Geometric path following control for an omnidirectional mobile robot

被引：0
|
作者：
Wang, Jian [1 ]
Chepinskiy, Sergey A. [1 ,2 ]
Krasnov, Aleksandr J. [2 ]
Zhang, Botao [1 ]
Liu, Huimin [2 ]
Chen, Yifan [2 ]
Khvostov, Denis A. [2 ]
机构：
[1] Hangzhou Dianzi Univ, Sch Automat, Xiasha Higher Educ Zone, Hangzhou 310018, Zhejiang, Peoples R China
[2] ITMO Univ, 49 Kronverksky Prospekt, St Petersburg 197101, Russia
来源：
2016 21ST INTERNATIONAL CONFERENCE ON METHODS AND MODELS IN AUTOMATION AND ROBOTICS (MMAR) | 2016年
关键词：
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
The paper describes an approach to the development of the geometric path following control for an omnidirectional mobile robot. Desired path of movement in the space is represented by an intersection of two implicit surfaces. Path following control problem is posed as a problem of maintaining the holonomic relationships between the system outputs. Control is synthesized using the dierential geometrical method through nonlinear transformation of initial dynamic model. The main results presented are the nonlinear control algorithms and experimental approbation result.
引用
收藏
页码：1063 / 1068
页数：6
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