TRAJECTORY CONTROL AND MODELLING OF AN OMNI-DIRECTIONAL MOBILE ROBOT

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

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Paper

TRAJECTORY CONTROL AND MODELLING OF AN OMNI-DIRECTIONAL MOBILE ROBOT

Topics: Mobile Robots and Autonomous Systems; Modeling, Simulation and Architectures; Robot Design, Development and Control

In Proceedings of the Third International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO, 412-417, 2006 , Setúbal, Portugal

Authors: André Scolari Conceição ; A. Paulo Moreira and Paulo J. Costa

Affiliation: University of Porto, Portugal

Keyword(s): Trajectory control, modelling and simulation, omni-directional mobile robot.

Related Ontology Subjects/Areas/Topics: Informatics in Control, Automation and Robotics ; Mobile Robots and Autonomous Systems ; Modeling, Simulation and Architectures ; Robot Design, Development and Control ; Robotics and Automation

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.

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Paper citation in several formats:

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 1: ICINCO; ISBN 978-972-8865-60-3; ISSN 2184-2809, SciTePress, pages 412-417. DOI: 10.5220/0001220904120417

@conference{icinco06,
author={André Scolari Concei\c{C}ão. 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 1: ICINCO},
year={2006},
pages={412-417},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001220904120417},
isbn={978-972-8865-60-3},
issn={2184-2809},
}

TY - CONF

JO - Proceedings of the Third International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO
TI - TRAJECTORY CONTROL AND MODELLING OF AN OMNI-DIRECTIONAL MOBILE ROBOT
SN - 978-972-8865-60-3
IS - 2184-2809
AU - Conceição, A.
AU - Moreira, A.
AU - Costa, P.
PY - 2006
SP - 412
EP - 417
DO - 10.5220/0001220904120417
PB - SciTePress