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Geometric kinematics modeling of omni-directional autonomous mobile robot and its applications

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3 Author(s)
Dong Sung Kim ; Eng. Res. Center for Adv. Control Instrum., Seoul Nat. Univ., South Korea ; Hyun Chul Lee ; Wook Hyun Kwon

A geometric kinematics modeling of a three wheeled autonomous mobile robot is proposed. Three types of basic motions are proposed for the path generation of the developed mobile robot. All paths of the mobile robot are achieved by the combination of proposed basic motions. The proposed scheme is verified through computer simulations and a practical model

Published in:

Robotics and Automation, 2000. Proceedings. ICRA '00. IEEE International Conference on  (Volume:3 )

Date of Conference:

2000