Derivation of Position-Based Forward Kinematics for Two-Wheeled Mobile Robot and Experimental Comparison of Theory and Measurements

This paper discusses a new kinematics of two-wheeled mobile robot. Most kinematics of mobile robots are related to velocity, but this paper discusses position-based kinematics. Regarding wheeled mobile robots, position-based kinematics is an ill-posed problem because the solution is not uniquely determined. However, this study reveals a new regularization method for this ill-posed problem. This regularization method imposes a certain constraint on the wheel motion, unlike the standard regularization theory attributable mainly to Tikhonov regularization. This paper derives an analytical solution of position-based forward kinematics subject to the constraint of wheel motion. This paper also shows that the analytical solution is consistent with the integrability of non-holonomic constraints and results of experimental verification.