Title :
A practical approach to motion generation and control for an omnidirectional mobile robot
Author :
Paromtchik, Igor E. ; Rembold, Ulrich
Author_Institution :
Inst. for Real-Time Comput. Syst. & Robotics, Karlsruhe Univ., Germany
Abstract :
Path generation execution and motion control for an omnidirectional mobile robot (vehicle) are considered. Real-time path generation is based on the polynomial spline-interpolation with prediction of velocities of a spline-function. The mobile vehicle control is performed with the use of its kinematic model and digital PID-controllers of the wheels. The theoretical approach is illustrated by the obtained experimental results
Keywords :
interpolation; mobile robots; motion control; path planning; robot kinematics; splines (mathematics); three-term control; digital PID-controllers; kinematic model; mobile vehicle control; motion control; motion generation; omnidirectional mobile robot; path generation execution; polynomial spline-interpolation; real-time system; spline-function; Communication system control; Kinematics; Mobile robots; Motion control; Polynomials; Remotely operated vehicles; Sensor systems; Space vehicles; Spline; Wheels;
Conference_Titel :
Robotics and Automation, 1994. Proceedings., 1994 IEEE International Conference on
Conference_Location :
San Diego, CA
Print_ISBN :
0-8186-5330-2
DOI :
10.1109/ROBOT.1994.350916
