Trajectory tracking for omni-directional mobile robots based on restrictions of the motor's velocities

• Type: Article in International Conference Proceedings Book
• Date: 2006

Authors

António Paulo Moreira (Author) FEUP; Paulo J. Costa (Author) FEUP; André Scolari Conceição (Author) Other

Conference proceedings International

Title: Proceedings of 8th International IFAC Symposium on Robot Control - Syroco 06

Pages: 1-5

8th International IFAC Symposium on Robot Control - Syroco 06

September 6 - 8, 2006.

Scientific classification

FOS: Engineering and technology > Electrical engineering, Electronic engineering, Information engineering

Other information

Abstract (EN): 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 omnidirectional mobile robot are presented.

Language: English

Type (Professor's evaluation): Scientific

No. of pages: 5