Trajectory control and modelling of an omni-directional mobile robot

نویسندگان

  • André Scolari Conceição
  • António Paulo Moreira
  • Paulo José Costa
چکیده

Abstract: This paper presents a trajectory controller for an omni-directional mobile robot. The controller presents important features, as the possibility of defining different translation velocities and angular positions to the robot during the trajectory following. The parameters of the controller are optimizated based on trajectory following simulations, with the mobile robot model. Simulation and real results of trajectory following are presented.

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تاریخ انتشار 2006