Abstract:Trajectory planning and tracking control play a vital role in the development of autonomous mobile robots. To fulfill the tasks of trajectory planning and tracking control of a Mecanum-wheeled omnidirectional mobile robot, this paper proposes an artificial potential field-based trajectory-planning scheme and a discrete integral terminal sliding mode-based trajectory-tracking control strategy. This paper proposes a trajectory-planning scheme and a trajectory-tracking control strategy for a Mecanum-wheeled omnid… Show more
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