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A practical approach to motion generation and control for an omnidirectional mobile robot

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2 Author(s)
Paromtchik, I.E. ; Inst. for Real-Time Comput. Syst. & Robotics, Karlsruhe Univ., Germany ; Rembold, U.

Path generation execution and motion control for an omnidirectional mobile robot (vehicle) are considered. Real-time path generation is based on the polynomial spline-interpolation with prediction of velocities of a spline-function. The mobile vehicle control is performed with the use of its kinematic model and digital PID-controllers of the wheels. The theoretical approach is illustrated by the obtained experimental results

Published in:

Robotics and Automation, 1994. Proceedings., 1994 IEEE International Conference on

Date of Conference:

8-13 May 1994