Path Following Control Algorithms Implemented in a Mobile Robot with OMNI Wheels
https://doi.org/10.17285/0869-7035.2016.24.3.131-142
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.
About the Authors
J. Wang
Hangzhou University
China
China
A. Yu. Krasnov
ITMO University, St. Petersburg
Russian Federation
Russian Federation
Yu. A. Kapitanyuk
Groningen University
Netherlands
Netherlands
S. A. Chepinskiy
ITMO University, Hangzhou University
Russian Federation
Russian Federation
Y. Chen
ITMO University
Russian Federation
Russian Federation
H. Liu
ITMO University
Russian Federation
Russian Federation
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Review
For citations:
Wang J., Krasnov A.Yu., Kapitanyuk Yu.A., Chepinskiy S.A., Chen Y., Liu H. Path Following Control Algorithms Implemented in a Mobile Robot with OMNI Wheels. Giroskopiya i Navigatsiya. 2016;24(3):131-142. (In Russ.) https://doi.org/10.17285/0869-7035.2016.24.3.131-142
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