TRAJECTORY CONTROL AND MODELLING OF AN OMNI-DIRECTIONAL MOBILE ROBOT

André Scolari Conceição, A. Paulo Moreira, Paulo J. Costa

Abstract

This paper presents a trajectory controller for an omni-directional mobile robot. The controller presents important features, as the possibility of defining different translation velocities and angular positions to the robot during the trajectory following. The parameters of the controller are optimizated based on trajectory following simulations, with the mobile robot model. Simulation and real results of trajectory following are presented.

References

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  2. Liu, Y., Wu, X., Zhu, J. J., and Lew, J. (2003). Omnidirectional mobile robot controller design by trajectory linearization. Proceedings of the American Control Conference, 4:3423 - 3428.
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Paper Citation


in Harvard Style

Conceição A., Moreira A. and Costa P. (2006). TRAJECTORY CONTROL AND MODELLING OF AN OMNI-DIRECTIONAL MOBILE ROBOT . In Proceedings of the Third International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-972-8865-60-3, pages 412-417. DOI: 10.5220/0001220904120417


in Bibtex Style

@conference{icinco06,
author={André Scolari Conceição and A. Paulo Moreira and Paulo J. Costa},
title={TRAJECTORY CONTROL AND MODELLING OF AN OMNI-DIRECTIONAL MOBILE ROBOT},
booktitle={Proceedings of the Third International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2006},
pages={412-417},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001220904120417},
isbn={978-972-8865-60-3},
}


in EndNote Style

TY - CONF
JO - Proceedings of the Third International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - TRAJECTORY CONTROL AND MODELLING OF AN OMNI-DIRECTIONAL MOBILE ROBOT
SN - 978-972-8865-60-3
AU - Conceição A.
AU - Moreira A.
AU - Costa P.
PY - 2006
SP - 412
EP - 417
DO - 10.5220/0001220904120417