Trajectory tracking for omni-directional mobile robots based on restrictions of the motor's velocities

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

Please use this identifier to cite or link to this item: https://hdl.handle.net/10216/79809

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DC Field	Value	Language
dc.creator	António Paulo Moreira
dc.creator	Paulo J. Costa
dc.creator	André Scolari Conceição
dc.date.accessioned	2022-09-10T14:14:49Z	-
dc.date.available	2022-09-10T14:14:49Z	-
dc.date.issued	2006
dc.identifier.other	sigarra:103592
dc.identifier.uri	https://hdl.handle.net/10216/79809	-
dc.description.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.
dc.language.iso	eng
dc.relation.ispartof	Proceedings of 8th International IFAC Symposium on Robot Control - Syroco 06
dc.rights	openAccess
dc.rights.uri	https://creativecommons.org/licenses/by-nc/4.0/
dc.subject	Engenharia electrotécnica, electrónica e informática
dc.subject	Electrical engineering, Electronic engineering, Information engineering
dc.title	Trajectory tracking for omni-directional mobile robots based on restrictions of the motor's velocities
dc.type	Artigo em Livro de Atas de Conferência Internacional
dc.contributor.uporto	Faculdade de Engenharia
dc.subject.fos	Ciências da engenharia e tecnologias::Engenharia electrotécnica, electrónica e informática
dc.subject.fos	Engineering and technology::Electrical engineering, Electronic engineering, Information engineering
Appears in Collections:	FEUP - Artigo em Livro de Atas de Conferência Internacional

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