TRAJECTORY TRACKING FOR OMNI-DIRECTIONAL MOBILE ROBOTS BASED ON RESTRICTIONS OF THE MOTOR'S VELOCITIES
نویسندگان
چکیده
منابع مشابه
Trajectory Tracking for Omni-directional Mobile Robots Based on Restrictions of the Motor’s Velocities
In this paper, we propose an algorithm that combine the restriction on motor’s velocities and the kinematic model of Omni-Directional mobile robots to improve the trajectory’s following. The algorithm verifies the reference velocities of the robot and redefine them if necessary, in order to prevent possible saturation on motor’s velocities. Simulation results of the algorithm applied to an omni...
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ژورنال
عنوان ژورنال: IFAC Proceedings Volumes
سال: 2006
ISSN: 1474-6670
DOI: 10.3182/20060906-3-it-2910.00022