Ground Vehicle Kinematics Notes

These notes contain the formal mathematical derivation of the direct and inverse kinematics of different ground vehicle architectures.

They are personal notes that I decided to keep in TeX and PDF so I can consult them later when I create software packages for controlling different terrestrial mobile platforms.

The text is intentionally not brief. Some parts could be shortened, but the goal is that readers with more or less experience in mathematical algebra can still follow the document.

The source files and the PDF are provided in English and Spanish:

Language	PDF	LaTeX source
English	kinematics_en.pdf	kinematics_en.tex
Spanish	kinematics_es.pdf	kinematics_es.tex

Some of the ROS 2 implementations of the architectures described here are in:

https://github.com/jfrascon/ground_vehicle_kinematics

Contents

• Physical constraints of a wheel.
• The role of Singular Value Decomposition in the computation of direct and inverse kinematics.
• One worked model:
  • three active wheel platform (three swerve drive).
• TODO:
  • differential platform.
  • Ackermann platform.
  • four active wheel platform.
  • mecanum wheel platform.