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Inverse versus direct kinematics model based on flatness and escape lanes to control CyCab mobile robot

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3 Author(s)
Morette, N. ; Lab. Vision & Robot., Bourges ; Novales, C. ; Vieyres, Pierre

This paper presents two approaches developed to control our CyCab mobile robot. The first one introduces the notion of virtual axle to determine a flat Inverse Kinematics Model; the second one, based on the Escape Lanes method, uses the Direct Kinematics Model. In the last part of this paper, a comparison between the two methods is carried out in order to validate the inverse model and to discuss the two methods respective advantages.

Published in:

Robotics and Automation, 2008. ICRA 2008. IEEE International Conference on

Date of Conference:

19-23 May 2008