| Article ID | Journal | Published Year | Pages | File Type |
|---|---|---|---|---|
| 712563 | IFAC Proceedings Volumes | 2006 | 5 Pages |
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.
Keywords
Related Topics
Physical Sciences and Engineering
Engineering
Computational Mechanics
Authors
André Scolari Conceição, A. Paulo Moreira, Paulo J. Costa,