Please use this identifier to cite or link to this item:
https://hdl.handle.net/10216/79809| 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 |
| Scientific areas: | Ciências da engenharia e tecnologias::Engenharia electrotécnica, electrónica e informática Engineering and technology::Electrical engineering, Electronic engineering, Information engineering |
| URI: | https://hdl.handle.net/10216/79809 |
| Source: | Proceedings of 8th International IFAC Symposium on Robot Control - Syroco 06 |
| Document Type: | Artigo em Livro de Atas de Conferência Internacional |
| Rights: | openAccess |
| License: | https://creativecommons.org/licenses/by-nc/4.0/ |
| Appears in Collections: | FEUP - Artigo em Livro de Atas de Conferência Internacional |
Files in This Item:
| File | Description | Size | Format | |
|---|---|---|---|---|
| 103592.pdf | Trajectory tracking for Omni-directional Mobile Robots based on Restrictions of the Motor's Velocities | 208.25 kB | Adobe PDF |  View/Open |
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