• DocumentCode
    2327318
  • Title

    A practical approach to motion generation and control for an omnidirectional mobile robot

  • Author

    Paromtchik, Igor E. ; Rembold, Ulrich

  • Author_Institution
    Inst. for Real-Time Comput. Syst. & Robotics, Karlsruhe Univ., Germany
  • fYear
    1994
  • fDate
    8-13 May 1994
  • Firstpage
    2790
  • Abstract
    Path generation execution and motion control for an omnidirectional mobile robot (vehicle) are considered. Real-time path generation is based on the polynomial spline-interpolation with prediction of velocities of a spline-function. The mobile vehicle control is performed with the use of its kinematic model and digital PID-controllers of the wheels. The theoretical approach is illustrated by the obtained experimental results
  • Keywords
    interpolation; mobile robots; motion control; path planning; robot kinematics; splines (mathematics); three-term control; digital PID-controllers; kinematic model; mobile vehicle control; motion control; motion generation; omnidirectional mobile robot; path generation execution; polynomial spline-interpolation; real-time system; spline-function; Communication system control; Kinematics; Mobile robots; Motion control; Polynomials; Remotely operated vehicles; Sensor systems; Space vehicles; Spline; Wheels;
  • fLanguage
    English
  • Publisher
    ieee
  • Conference_Titel
    Robotics and Automation, 1994. Proceedings., 1994 IEEE International Conference on
  • Conference_Location
    San Diego, CA
  • Print_ISBN
    0-8186-5330-2
  • Type

    conf

  • DOI
    10.1109/ROBOT.1994.350916
  • Filename
    350916
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=2327318