Majed Mohammed Al-Khalidy, Mohammed. “Kinematics Modeling and Development of a Nonholonomic Wheeled Mobile Robot”. Journal of Engineering and Sustainable Development, vol. 12, no. 3, Sept. 2008, pp. 40-51, https://jeasd.uomustansiriyah.edu.iq/index.php/jeasd/article/view/1657.