Controller optimization and modelling of an omni-directional mobile robot

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

Authors

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

Conference proceedings International

Title: CONTROLO 2006

Pages: 1-6

7th Portuguese Conference on Automatic Control

Lisboa, Portugal, 11 a 13 de Setembro de 2006

Scientific classification

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

CORDIS: Technological sciences > Engineering > Electrical engineering

Other information

Abstract (EN): This paper presents a dynamic and kinematic model and a trajectory controller for an omni-directional mobile robot. The parameters of the controller are optimizated based on trajectory following simulations, with the mobile robot model, take into account aspects like time and errors of position and orientation of the robot. Simulation and real results of trajectory following are presented.

Language: English

Type (Professor's evaluation): Scientific

No. of pages: 6