Trajectory control and modelling of an omni-directional mobile robot

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

Authors

Conceicao, AS (Author) Other; António Paulo Moreira (Author) FEUP; Paulo Gomes da Costa (Author) FEUP

Conference proceedings International

Title: ICINCO 2006: Proceedings of the Third International Conference on Informatics in Control, Automation and Robotics: ROBOTICS AND AUTOMATION

Pages: 412-417

3rd International Conference on Informatics in Control, Automation and Robotics

Setubal, PORTUGAL, AUG 01-05, 2006

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Other information

Authenticus ID: P-004-PVZ

Abstract (EN): 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.

Language: English

Type (Professor's evaluation): Scientific

No. of pages: 6