Architecture control and model identification of a omni-directional mobile robot

• Type: Article in International Conference Proceedings Book
• Date: 2005

Authors

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

Conference proceedings International

Title: 2005 PORTUGUESE CONFERENCE ON ARTIFICIAL INTELLIGENCE, PROCEEDINGS

Pages: 247-251

Portuguese Conference on Artificial Intelligence

Covilha, PORTUGAL, 2005

Indexing

ISI Web of Knowledge - 2 Citations

ISI Web of Science

INSPEC

Scientific classification

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

CORDIS: Technological sciences > Engineering > Control engineering > Robótica Robotics

Other information

Authenticus ID: P-000-74V

DOI: 10.1109/epia.2005.341223

Abstract (EN): This paper presents a architecture control and model identification of a onmi-Directional Mobile Robot It is divided into the three stages. Stage one proposes a procedure for dynamic model identification and control of the "motor + reduction + encoder" process of the Robot's Motors. Second, proposes the identification of a dynamic model for the whole mobile robot considering it as a multi-variable system. Third, presents a algorithm for perfect trajectory tracking of Omni-Directional Mobile Robots, based on restriction on motor's velocities. This algorithm combines the restriction on motor's velocities and the kinematic model of mobile robot to generate ideal drive velocities for the mobile robot to follow the trajectories correctly with the best possible performance.

Language: English

Type (Professor's evaluation): Scientific

No. of pages: 5