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Author(s): António Paulo Moreira
Paulo J. Costa
André Scolari Conceição
Title: Trajectory tracking for omni-directional mobile robots based on restrictions of the motor's velocities
Issue Date: 2006
Abstract: In this paper, we propose an algorithm that combine the restriction on motor's velocities and the kinematic model of Omni-Directional mobile robots to improve the trajectory's following. The algorithm verifies the reference velocities of the robot and redefine them if necessary, in order to prevent possible saturation on motor's velocities. Simulation results of the algorithm applied to an omnidirectional mobile robot are presented.
Subject: Engenharia electrotécnica, electrónica e informática
Electrical engineering, Electronic engineering, Information engineering
Source: Proceedings of 8th International IFAC Symposium on Robot Control - Syroco 06
Document Type: Artigo em Livro de Atas de Conferência Internacional
Rights: openAccess
Appears in Collections:FEUP - Artigo em Livro de Atas de Conferência Internacional

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