2Campion G, Bastin G B, D'Andrea-Novel. Structural properties and classification of kinematic and dynamic models of wheeled mobile robots[J]. IEEE Transactions on Robotics and Automation. 1996, 12(1): 47-62.
3Muir P F, Neuman, C P. Kinematic modeling for feedback control of an omnidirectional wheeled mobile robot[ A ]. Proceedings of the 1987 IEEE International Conference On Robotics and Automation[C]. 1987. 1772 - 1778.
4West M, Asada H H. Design and control d ball wheel omnidirectional vehicles[A]. Proceedings d the 1995 IEEE International Conference on Robotics and Automation[C]. 1995. 1931 - 1938.
5Tahboub K A, Asada H H. Dynamics analysis and control of a holonomic vehicle with a continuously variable transmission[J].ASME Journal of Dynamic Systems, Measurement, and Control. 2002,124(3): 118-126.
6Wilson L, Williams C, Yance J, etc. Design and modeling of a redundant omni-dimctional RoboCup Goalie[ A ]. Proceedings Robo-Cup 2001 International Symposium[C]. Seattle: 2001.
7Carter B, Good M, Dorohoff M, etc. Mechanical design and modeling of an omni-directional RoboCup player[ A ]. RoboCup AI Conference[C]. Seattle WA: 2001.1 -10.
8Byun K S, IGm S J, Song J B. Design of continuous alternate wheels for omnidirectional mobile robots[J]. Proceedings of the 2001 IEEE International Conference on Robotics and Automation. 2001,1: 767-772.
9Paromtchik I E, Rembold U. A motion generation approach for an omnidirectional vehicle[A]. Proceedings of the 2000 IEEE International Conference on Robotics and Automation[C]. San Francisco:2000. 1213 - 1218.
10Pin F G, Killough S M. A new family d omnidirectional and holonomic wheeled platforms for mobile mbots[J]. IEEE Transactions on Robotics and Automation. 1994,10(4) :480-489.