2010
DOI: 10.1108/01439911011018975
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The path‐tracking controller based on dynamic model with slip for one four‐wheeled OMR

Abstract: PurposeThis paper aims to propose a suitable motion control method for omni‐directional mobile robots (OMRs). In RoboCup competition, the robot moves in a dynamic and oppositional environment, which occurs with high acceleration and deceleration motion frequently, especially for our OMR that slipping is almost inherently encountered in motion. Therefore, the purpose of this paper is to present one improved dynamical model with slip, and then to propose one suitable path‐tracking controller based on it, which g… Show more

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Cited by 18 publications
(7 citation statements)
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“…Then it is necessary to give a special form to its surface to ensure constancy of contact as the contact of the rotating wheel with the ground changes from one roller to the next [7]. Review of relevant publications suggests that in practice the omnidirectional robots whose rotational roller axis lies in the plane of the wheel rim are usually used as educational complexes and for various robotic competitions [8][9][10], whereas robots with Mecanum wheels are used as transportation and manipulation mobile robots, for example, for handling large-size objects [11].…”
Section: Introductionmentioning
confidence: 99%
“…Then it is necessary to give a special form to its surface to ensure constancy of contact as the contact of the rotating wheel with the ground changes from one roller to the next [7]. Review of relevant publications suggests that in practice the omnidirectional robots whose rotational roller axis lies in the plane of the wheel rim are usually used as educational complexes and for various robotic competitions [8][9][10], whereas robots with Mecanum wheels are used as transportation and manipulation mobile robots, for example, for handling large-size objects [11].…”
Section: Introductionmentioning
confidence: 99%
“…В работах [13]- [14] построена нелинейная модель четырехколесного мобильного робота, учитывающая действие сил сухого и вязкого трения, и предложен закон управления для такой модели. Динамическая модель омни-мобильного робота, учитывающая проскальзывание колес, построена в [15].…”
Section: Introductionunclassified
“…Recently, path tracking of mobile robots has attracted considerable attention in the field of industrial and service robotics [1,2] . Various methods have been proposed for this problem, such as dynamic feedback linearization [3] , adaptive control [4] .…”
Section: Introductionmentioning
confidence: 99%