The Use of Geometric Mechanics Concept at Kinematic Modeling in Mobile Robotics

摘要

The article deals with the issue of the use of geometric mechanics in mobile robotics. In the introductory part of article, basic notions are explained that frequently occurring in the concept of geometric mechanics. It contains the calculation of body velocities using adjoint action. Further was described the relation between the body velocity and the shape variable by the reconstruction equation and from this equation was expressed the local connection. The last part deals with the behavior of the differential-drive car using the vector field what it can be used at solving more complicated locomotion systems.