Motion control of an omnidirectional mobile robot

被引：0

作者：

Li, Xiang ^{[1
]}

Zell, Andreas ^{[1
]}

机构：

[1] Univ Tubingen, Dept Comp Architecture, Wilhelm Schickard Inst, D-72076 Tubingen, Germany

来源：

ICINCO 2007: PROCEEDINGS OF THE FOURTH INTERNATIONAL CONFERENCE ON INFORMATICS IN CONTROL, AUTOMATION AND ROBOTICS, VOL RA-1: ROBOTICS AND AUTOMATION, VOL 1 | 2007年

关键词：

mobile robots and autonomous systems; system identification; actuator saturation; path following control;

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：

This paper focuses on the motion control problem of an onmidirectional mobile robot. A new control method based on the inverse input-output linearized kinematic model is proposed. As the actuator saturation and actuator dynamics have important impacts on the robot performance, this control law takes into account these two aspects and guarantees the stability of the closed-loop control system. Real-world experiments with an omnidirectional middle-size RoboCup robot verifies the performance of this proposed control algorithm.

引用

页码：125 / 132

页数：8

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