The paper investigates and proposes a solution for the smooth control of a wheeled omnidirectional mobile robot. The flexibility of this holonomous robot is fully exploited by means of the control strategy proposed. It is based on two main concepts: a Cartesian path planning and a wheel command generation based on the dynamic inversion of the robot kinematic model. The planned path has to exhibit appropriate geometric characteristics in order to generate wheel command signals with continuous accelerations. In particular, the second order geometric continuity of the path, i.e. the continuity of the curvature, has to be guaranteed. Simulation results concerning a perturbed system are reported.
Smooth control of a wheeled omnidirectional robot / GUARINO LO BIANCO, Corrado; Piazzi, Aurelio; M., Romano. - (2004), pp. 0-0. (Intervento presentato al convegno 5th IFAC Symposium on Intelligent Autonomous Vehicles, IAV2004 nel July 5-7).
Smooth control of a wheeled omnidirectional robot
GUARINO LO BIANCO, Corrado;PIAZZI, Aurelio;
2004-01-01
Abstract
The paper investigates and proposes a solution for the smooth control of a wheeled omnidirectional mobile robot. The flexibility of this holonomous robot is fully exploited by means of the control strategy proposed. It is based on two main concepts: a Cartesian path planning and a wheel command generation based on the dynamic inversion of the robot kinematic model. The planned path has to exhibit appropriate geometric characteristics in order to generate wheel command signals with continuous accelerations. In particular, the second order geometric continuity of the path, i.e. the continuity of the curvature, has to be guaranteed. Simulation results concerning a perturbed system are reported.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
