A practical approach to motion generation and control for an omnidirectional mobile robot

Path generation execution and motion control for an omnidirectional mobile robot (vehicle) are considered. Real-time path generation is based on the polynomial spline-interpolation with prediction of velocities of a spline-function. The mobile vehicle control is performed with the use of its kinemat...

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Bibliographic Details
Main Authors: Paromtchik, I.E., Rembold, U.
Format: Conference Proceeding
Language:English
Subjects:
Communication system control
Kinematics
Mobile robots
Motion control
Polynomials
Remotely operated vehicles
Sensor systems
Space vehicles
Spline
Wheels
Online Access:Request full text
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Summary:Path generation execution and motion control for an omnidirectional mobile robot (vehicle) are considered. Real-time path generation is based on the polynomial spline-interpolation with prediction of velocities of a spline-function. The mobile vehicle control is performed with the use of its kinematic model and digital PID-controllers of the wheels. The theoretical approach is illustrated by the obtained experimental results.< >
DOI:10.1109/ROBOT.1994.350916