Geometric path following control for an omnidirectional mobile robot | IEEE Conference Publication | IEEE Xplore

Geometric path following control for an omnidirectional mobile robot


Abstract:

The paper describes an approach to the development of the geometric path following control for an omnidirectional mobile robot. Desired path of movement in the space is r...Show More

Abstract:

The paper describes an approach to the development of the geometric path following control for an omnidirectional mobile robot. Desired path of movement in the space is represented by an intersection of two implicit surfaces. Path following control problem is posed as a problem of maintaining the holonomic relationships between the system outputs. Control is synthesized using the dierential geometrical method through nonlinear transformation of initial dynamic model. The main results presented are the nonlinear control algorithms and experimental approbation result.
Date of Conference: 29 August 2016 - 01 September 2016
Date Added to IEEE Xplore: 26 September 2016
ISBN Information:
Conference Location: Miedzyzdroje, Poland

References

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