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《Control Theory & Applications》 2006-01
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Modeling and optimal control of omni-directional mobile robots

XIONG Rong ~(1),ZHANG He ~(1),CHU Jian ~(1),HE Zhen-feng ~(2),WU Yong-hai ~(3)(1.National Laboratory of Industrial Control Technology,Zhejiang University,Hangzhou Zhejiang 310027,China;2.College of Computer Science,Zhejiang University,Hangzhou Zhejiang 310027,China;3.College of Mechanical and Energy Engineering,Zhejiang University,Hangzhou Zhejiang 310027,China)  
This paper focuses on the motion control and path planning of an omni-directional mobile robot.By analyzing the kinematic and dynamic characteristics of the robot,its motion control model is provided.The model is rationally simplified based on the model equation to reduce the computation cost.The optimal trajectory is generated by using Bang-Bang control.The real-time control effect is realized by combining the trajectory planning and control modeling.Experiment demonstrates the effectiveness of the proposed method.
【Fund】: 国家自然科学基金资助项目(60305010)
【CateGory Index】: TP242
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