Enhanced MPC for Omnidirectional Robot Motion Tracking Using Laguerre Functions and Non-Iterative Linearization

Path Following and Velocity Optimizing for an Omnidirectional Mobile Robot

In this paper, the path following controller of an omnidirectional mobile robot (OMR) has been extended in such a way that the forward velocity has been optimized and the actuator velocity constraints have been taken into account. Both have been attained through the proposed model predictive control (MPC) framework. The forward velocity has been included into the objective function, while the a...

Motion control of an omnidirectional mobile robot

This paper focuses on the motion control problem of an omnidirectional mobile robot. A new control method based on the inverse input-output linearized kinematic model is proposed. As the actuator saturation and actuator dynamics have important impacts on the robot performance, this control law takes into account these two aspects and guarantees the stability of the closed-loop control system. R...

Motion control of an omnidirectional mobile robot

Robot Motion Planning using Hyperboloid Potential Functions

A new approach to robot path planning using hyperboloid potential functions is presented in this paper. Unlike parabolic potential functions, where the control force increases with distance from the goal and is unbound, and conic potential functions where a singularity occurs at the goal, hyperboloid potential functions avoid both these drawbacks. However, they do combine the advantages of both...

Reactive Motion Control for an Omnidirectional Mobile Robot

This paper presents the developed practical approach to reactive motion control for the omnidirectional mobile vehicle of the Karlsruhe Autonomous Mobile Robot (KAMRO). The reactive control is based on the ultrasonic sensory information processing and is a supplement to the usual motion control of the vehicle. The geometrical path planner on the base of the environmental model generates global ...