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This paper presents a differential-flatness-based integrated point-to-point trajectory planning and control method for a class of nonholonomic wheeled mobile manipulator (WMM). We demonstrate that its kinematic model possesses a feedback-linearizable description due to the flatness property, which allows for full-state controllability. Trajectory planning can then be simplified and achieved by polynomial...
In this paper, we present an integrated motion planning and control framework for control of a differentially driven wheeled mobile robot based on the differential flatness property exhibits in the models of the system. The goals of the paper are: (a) to present a simple online control method for wheeled mobile robot using both its kinematic and dynamic models (with the emphasis on dynamic model that...
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