ABSTRACT
This chapter describes the implementation of the theory to a modular wheeled mobile robot, (WMR). The starting point is the construction of a kinematic model for a general WMR vehicle. The starting point in the modeling process is understanding the kinematics of the WMR. A WMR is modeled as a planar rigid robot body that moves over a horizontal reference plane on wheels that are connected to the body by axles. The transform which defines the motion of the WMR body, given the observed action of the wheels, is called the forward kinematics. The kinematics of any WMR is derived from basic theory of planar motion. The kinematics of a WMR has to obey two important constraints, the rigid body and rolling conditions. Modeling the kinematics of a WMR can be achieved by deriving equations that satisfy the rigid body and rolling conditions for the WMR.
