Trajectory tracking for omni-directional mobile robots based on restrictions of the motor's velocities

Detalhes bibliográficos
Autor(a) principal: António Paulo Moreira
Data de Publicação: 2006
Outros Autores: Paulo J. Costa, André Scolari Conceição
Tipo de documento: Livro
Idioma: eng
Título da fonte: Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)
Texto Completo: https://hdl.handle.net/10216/79809
Resumo: In this paper, we propose an algorithm that combine the restriction on motor's velocities and the kinematic model of Omni-Directional mobile robots to improve the trajectory's following. The algorithm verifies the reference velocities of the robot and redefine them if necessary, in order to prevent possible saturation on motor's velocities. Simulation results of the algorithm applied to an omnidirectional mobile robot are presented.
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spelling Trajectory tracking for omni-directional mobile robots based on restrictions of the motor's velocitiesEngenharia electrotécnica, electrónica e informáticaElectrical engineering, Electronic engineering, Information engineeringIn this paper, we propose an algorithm that combine the restriction on motor's velocities and the kinematic model of Omni-Directional mobile robots to improve the trajectory's following. The algorithm verifies the reference velocities of the robot and redefine them if necessary, in order to prevent possible saturation on motor's velocities. Simulation results of the algorithm applied to an omnidirectional mobile robot are presented.20062006-01-01T00:00:00Zinfo:eu-repo/semantics/publishedVersioninfo:eu-repo/semantics/bookapplication/pdfhttps://hdl.handle.net/10216/79809engAntónio Paulo MoreiraPaulo J. CostaAndré Scolari Conceiçãoinfo:eu-repo/semantics/openAccessreponame:Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)instname:Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informaçãoinstacron:RCAAP2023-11-29T14:08:21Zoai:repositorio-aberto.up.pt:10216/79809Portal AgregadorONGhttps://www.rcaap.pt/oai/openaireopendoar:71602024-03-19T23:55:47.199217Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) - Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informaçãofalse
dc.title.none.fl_str_mv Trajectory tracking for omni-directional mobile robots based on restrictions of the motor's velocities
title Trajectory tracking for omni-directional mobile robots based on restrictions of the motor's velocities
spellingShingle Trajectory tracking for omni-directional mobile robots based on restrictions of the motor's velocities
António Paulo Moreira
Engenharia electrotécnica, electrónica e informática
Electrical engineering, Electronic engineering, Information engineering
title_short Trajectory tracking for omni-directional mobile robots based on restrictions of the motor's velocities
title_full Trajectory tracking for omni-directional mobile robots based on restrictions of the motor's velocities
title_fullStr Trajectory tracking for omni-directional mobile robots based on restrictions of the motor's velocities
title_full_unstemmed Trajectory tracking for omni-directional mobile robots based on restrictions of the motor's velocities
title_sort Trajectory tracking for omni-directional mobile robots based on restrictions of the motor's velocities
author António Paulo Moreira
author_facet António Paulo Moreira
Paulo J. Costa
André Scolari Conceição
author_role author
author2 Paulo J. Costa
André Scolari Conceição
author2_role author
author
dc.contributor.author.fl_str_mv António Paulo Moreira
Paulo J. Costa
André Scolari Conceição
dc.subject.por.fl_str_mv Engenharia electrotécnica, electrónica e informática
Electrical engineering, Electronic engineering, Information engineering
topic Engenharia electrotécnica, electrónica e informática
Electrical engineering, Electronic engineering, Information engineering
description In this paper, we propose an algorithm that combine the restriction on motor's velocities and the kinematic model of Omni-Directional mobile robots to improve the trajectory's following. The algorithm verifies the reference velocities of the robot and redefine them if necessary, in order to prevent possible saturation on motor's velocities. Simulation results of the algorithm applied to an omnidirectional mobile robot are presented.
publishDate 2006
dc.date.none.fl_str_mv 2006
2006-01-01T00:00:00Z
dc.type.status.fl_str_mv info:eu-repo/semantics/publishedVersion
dc.type.driver.fl_str_mv info:eu-repo/semantics/book
format book
status_str publishedVersion
dc.identifier.uri.fl_str_mv https://hdl.handle.net/10216/79809
url https://hdl.handle.net/10216/79809
dc.language.iso.fl_str_mv eng
language eng
dc.rights.driver.fl_str_mv info:eu-repo/semantics/openAccess
eu_rights_str_mv openAccess
dc.format.none.fl_str_mv application/pdf
dc.source.none.fl_str_mv reponame:Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)
instname:Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informação
instacron:RCAAP
instname_str Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informação
instacron_str RCAAP
institution RCAAP
reponame_str Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)
collection Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)
repository.name.fl_str_mv Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) - Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informação
repository.mail.fl_str_mv
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