DocumentCode
2230151
Title
Control of an omnidirectional mobile robot
Author
Watanabe, Keigo
Author_Institution
Dept. of Mech. Eng., Saga Univ., Japan
Volume
1
fYear
1998
fDate
21-23 Apr 1998
Firstpage
51
Abstract
Holonomic or nonholonomic omnidirectional mobile robots are known to be constructed by applying a specialized wheel or mobile mechanism. In particular, some representative control approaches are described for a holonomic and omnidirectional mobile robot with three lateral orthogonal-wheel assemblies. The uses of resolved acceleration control method, PID method, fuzzy model method, and stochastic fuzzy servo method are highlighted
Keywords
acceleration control; fuzzy control; mobile robots; robot dynamics; stochastic systems; three-term control; PID method; fuzzy model method; holonomic omnidirectional mobile robots; lateral orthogonal-wheel assemblies; nonholonomic omnidirectional mobile robots; omnidirectional mobile robot control; resolved acceleration control method; stochastic fuzzy servo method; Acceleration; Adaptive control; Fuzzy control; Fuzzy systems; Mobile robots; Robotic assembly; Servomechanisms; Stochastic processes; Three-term control; Wheels;
fLanguage
English
Publisher
ieee
Conference_Titel
Knowledge-Based Intelligent Electronic Systems, 1998. Proceedings KES '98. 1998 Second International Conference on
Conference_Location
Adelaide, SA
Print_ISBN
0-7803-4316-6
Type
conf
DOI
10.1109/KES.1998.725827
Filename
725827
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