5. Conclusion

This article provides an overview of the designs used in mobile robotics, particularly those with wheels, as well as methods for controlling their movements. The models developed here are based mainly on the mechanics of systems of rigid solids, enabling an analysis of the designs, especially in terms of mobility, as well as the stability of the controls developed. As is often the case, these physical models are based on a number of assumptions: a perfectly rigid robot structure, perfect knowledge of the robot's parameters (configuration, geometry and inertia), adherent, slip-free ground contact, and a structured, measurable environment. Much hope is now being placed on artificial intelligence techniques (reinforcement learning, deep learning, probabilistic approach, etc.) to be able to grasp the full complexity of navigation problems in uncertain environments (reliefs, fixed or moving obstacles,...