MOTION CONTROL OF AN OMNIDIRECTIONAL MOBILE ROBOT
Xiang Li, Andreas Zell
2007
Abstract
This paper focuses on the motion control problem of an omnidirectional mobile robot. A new control method based on the inverse input-output linearized kinematic model is proposed. As the actuator saturation and actuator dynamics have important impacts on the robot performance, this control law takes into account these two aspects and guarantees the stability of the closed-loop control system. Real-world experiments with an omnidirectional middle-size RoboCup robot verifies the performance of this proposed control algorithm.
DownloadPaper Citation
in Harvard Style
Li X. and Zell A. (2007). MOTION CONTROL OF AN OMNIDIRECTIONAL MOBILE ROBOT . In Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-972-8865-83-2, pages 125-132. DOI: 10.5220/0001644801250132
in Bibtex Style
@conference{icinco07,
author={Xiang Li and Andreas Zell},
title={MOTION CONTROL OF AN OMNIDIRECTIONAL MOBILE ROBOT},
booktitle={Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2007},
pages={125-132},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001644801250132},
isbn={978-972-8865-83-2},
}
in EndNote Style
TY - CONF
JO - Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - MOTION CONTROL OF AN OMNIDIRECTIONAL MOBILE ROBOT
SN - 978-972-8865-83-2
AU - Li X.
AU - Zell A.
PY - 2007
SP - 125
EP - 132
DO - 10.5220/0001644801250132