Simultaneous tracking and stabilization of an omnidirectional mobile robot in polar coordinates: a unified control approach

被引：13

作者：

Huang, Hsu-Chih ^{[1
]}

Tsai, Ching-Chih ^{[1
]}

机构：

[1] Natl Chung Hsing Univ, Dept Elect Engn, Taichung 402, Taiwan

来源：

ROBOTICA | 2009年 / 27卷

关键词：

Feedback linearization; Kinematic model; Mobile robot; Omnidirectional; Polar coordinates; Regulation; Trajectory tracking;

D O I：

10.1017/S0263574708004852

中图分类号：

TP24 [机器人技术];

学科分类号：

140102 [集成电路设计与设计自动化];

摘要：

This paper presents a polar-space kinematics control method to achieve simultaneous tracking and stabilization for an omnidirectional wheeled mobile robot with three independent driving omnidirectional wheels equally spaced at 120 degrees from one another. The kinematic model of the robot in polar coordinates is presented. With the kinematic model, a kinematic control method based on feedback linearization is proposed in order to achieve Simultaneous tracking and stabilization. The proposed method is easily extended to address the path following problem. Computer Simulations and experimental results are presented to show the effectiveness and usefulness of the proposed control method at slow speeds.

引用

页码：447 / 458

页数：12

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