Title :
Control of an omnidirectional mobile robot
Author_Institution :
Dept. of Mech. Eng., Saga Univ., Japan
Abstract :
Holonomic or nonholonomic omnidirectional mobile robots are known to be constructed by applying a specialized wheel or mobile mechanism. In particular, some representative control approaches are described for a holonomic and omnidirectional mobile robot with three lateral orthogonal-wheel assemblies. The uses of resolved acceleration control method, PID method, fuzzy model method, and stochastic fuzzy servo method are highlighted
Keywords :
acceleration control; fuzzy control; mobile robots; robot dynamics; stochastic systems; three-term control; PID method; fuzzy model method; holonomic omnidirectional mobile robots; lateral orthogonal-wheel assemblies; nonholonomic omnidirectional mobile robots; omnidirectional mobile robot control; resolved acceleration control method; stochastic fuzzy servo method; Acceleration; Adaptive control; Fuzzy control; Fuzzy systems; Mobile robots; Robotic assembly; Servomechanisms; Stochastic processes; Three-term control; Wheels;
Conference_Titel :
Knowledge-Based Intelligent Electronic Systems, 1998. Proceedings KES '98. 1998 Second International Conference on
Conference_Location :
Adelaide, SA
Print_ISBN :
0-7803-4316-6
DOI :
10.1109/KES.1998.725827
