Dynamics and schemes of control of mobile robots with two independent coaxial driving wheels / V. E. Pavlovskii, V. V. Evgrafov, V. V. Pavlovskii, N. V. Petrovskaya. //Vestnik Moskovskogo Universiteta. Seriya 1. Matematika. Mekhanika. 2009. № 1. P. 45-51 [Moscow Univ. Mech. Bulletin. Vol. 64, N 1, 2009. P. 8-13].
A two-wheeled robot and a robot composed of a snakelike chain of two-wheeled objects are considered. The problem of trajectory synthesis and the problem of motion planning and control are studied for these mobile robots. The mobile robots with two independently controlled coaxial wheels and with one or several passive wheels are called robots with differential drive. These problems are formulated in such a way that the construction of dynamically correct and precise control becomes possible for such robots.