Two dimensional wheeled vehicle kinematics

This paper develops a fundamental theory of two dimensional wheeled vehicle kinematics. The author first analyzes rigid body robot 2D motions so that a mixture of translational and rotational motions is considered to be a purely rotational motion with its center. Next the author defines the class of tangential motions. Motions in this class are relatively easy to execute by vehicles normally available. A curve with discontinuous curvature is not appropriate for tangential motions for any vehicle architecture. The most important finding in this paper is that any general motion is embodied by an SS type vehicle which does not use any special tires or special complex mechanisms