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삼륜형 전방향 이동로봇을 위한 경로추종 및 방위제어Simultaneous path tracking and orientation control for three-wheeled omni-directional robots
- Other Titles
- Simultaneous path tracking and orientation control for three-wheeled omni-directional robots
- Issue Date
- 2015
- Publisher
- 한국로봇학회
- Keywords
- Omni-directional robots; path tracking; orientation control
- Citation
- 로봇학회 논문지, v.10, no.3, pp.154 - 161
- Indexed
- KCI
- Journal Title
- 로봇학회 논문지
- Volume
- 10
- Number
- 3
- Start Page
- 154
- End Page
- 161
- ISSN
- 1975-6291
- Abstract
- Conventional path tracking methods designed for two-wheeled differential drive robots are not suitable for omni-directional robots. In this study, we present a controller which can accomplish more accurate path tracking and orientation correction by exploiting the unconstrained movement capability of omni-directional robots. The proposed controller is proven to be stable using a Lyapunov stability criterion. Various experiments in real environments show that performance of path tracking and orientation correction has improved in the proposed controller.
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Collections - College of Engineering > Department of Mechanical Engineering > 1. Journal Articles
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