MOTION CONTROL OF AN OMNIDIRECTIONAL MOBILE ROBOT

Xiang Li, Andreas Zell

Abstract

This paper focuses on the motion control problem of an omnidirectional 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.

References

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Paper Citation


in Harvard Style

Li X. and Zell A. (2007). MOTION CONTROL OF AN OMNIDIRECTIONAL MOBILE ROBOT . In Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-972-8865-83-2, pages 125-132. DOI: 10.5220/0001644801250132


in Bibtex Style

@conference{icinco07,
author={Xiang Li and Andreas Zell},
title={MOTION CONTROL OF AN OMNIDIRECTIONAL MOBILE ROBOT},
booktitle={Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2007},
pages={125-132},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001644801250132},
isbn={978-972-8865-83-2},
}


in EndNote Style

TY - CONF
JO - Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - MOTION CONTROL OF AN OMNIDIRECTIONAL MOBILE ROBOT
SN - 978-972-8865-83-2
AU - Li X.
AU - Zell A.
PY - 2007
SP - 125
EP - 132
DO - 10.5220/0001644801250132