Given an omni-directional mobile platform using four Mecanum wheels requires further a capability to be programmed to achieve various motion behaviours and intelligence. This paper describes an undergraduate solution to the problem involving both hardware and software developments. With a path follo
β¦ LIBER β¦
Motion control of mobile wheeled robots
β Scribed by Yu. G. Martynenko
- Publisher
- Springer US
- Year
- 2007
- Tongue
- English
- Weight
- 909 KB
- Volume
- 147
- Category
- Article
- ISSN
- 1573-8795
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In this paper, an asymptotic control with driftless constraints is proposed for wheeled mobile robots based on empirical practice. The equations of motion of a designed mobile robot are derived. In order to obtain the desired performance for high velocity and consecutive motions, the motion requirem