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Design, modeling and trajectory generation of a kind of four wheeled omni-directional vehicle

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3 Author(s)
Zhenfeng He ; Comput. Sci. & Technol. Coll., Zhejiang Univ., Hangzhou, China ; Lanfen Lin ; Xueying Ma

In this paper a design of four wheeled omni-directional vehicle is presented and its kinematic and dynamic model is developed. The motion equation of this system is non-linear and hard to deal with in applications where fast trajectory generation is needed with modest computation resource. Therefore a special design that the vehicle's motion equation can be simplified is proposed. With a set of constraints being satisfied, the system is greatly simplified and a near time-optimal bang-bang trajectory can be calculated with great computational efficiency.

Published in:

Systems, Man and Cybernetics, 2004 IEEE International Conference on  (Volume:7 )

Date of Conference:

10-13 Oct. 2004