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

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

Conference proceedings International

Title: IFAC Proceedings Volumes (IFAC-PapersOnline)

8th International IFAC Symposium on Robot Control, SYROCO 2006

Bologna, 6 September 2006 through 8 September 2006

Indexing

Scopus - 9 Citations

Other information

Authenticus ID: P-007-ZNG

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. Copyright © 2006 IFAC.

Language: English

Type (Professor's evaluation): Scientific