Path following control algorithms implemented in a mobile robot with omni wheels

J. Wang; A. Yu. Krasnov; Yu. A. Kapitanyuk; S. A. Chepinskiy; Y. Chen; H. Liu

doi:10.1134/S2075108716040118

Path following control algorithms implemented in a mobile robot with omni wheels

Authors: Wang J.¹, Krasnov A.Y.², Kapitanyuk Y.A.³, Chepinskiy S.A.¹^,2, Chen Y.², Liu H.²
Affiliations:
1. Hangzhou Dianzi University
2. ITMO University
3. Groningen University
Issue: Vol 7, No 4 (2016)
Pages: 353-359
Section: Article
URL: https://journal-vniispk.ru/2075-1087/article/view/203982
DOI: https://doi.org/10.1134/S2075108716040118
ID: 203982

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Abstract

The paper focuses on the problem of synthesis of path following control for a robot with omni wheels. Control is synthesized using differential geometry methods through nonlinear transformation of the initial dynamic model. The main results are presented in the form of nonlinear control algorithm and experimental data.