Path following control algorithms implemented in a mobile robot with omni wheels

被引：2
|
作者：
Wang J. [1 ]
Krasnov A.Y. [2 ]
Kapitanyuk Y.A. [3 ]
Chepinskiy S.A. [1 ,2 ]
Chen Y. [2 ]
Liu H. [2 ]
机构：
[1] Hangzhou Dianzi University, Zhejiang
[2] ITMO University, St. Petersburg
[3] Groningen University, Groningen
来源：
Chepinskiy, S.A. (chepinsky_s@hotmail.ru) | 2016年 / Maik Nauka Publishing / Springer SBM卷 / 07期
关键词：
Mathematical transformations;
D O I：
10.1134/S2075108716040118
中图分类号：
学科分类号：
摘要：
The paper focuses on the problem of synthesis of path following control for a robot with omni wheels. Control is synthesized using differential geometry methods through nonlinear transformation of the initial dynamic model. The main results are presented in the form of nonlinear control algorithm and experimental data. © 2016, Pleiades Publishing, Ltd.
引用
收藏
页码：353 / 359
页数：6
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