This article is cited in 1 paper

Deviation based discrete control algorithm for omni-wheeled mobile robot

Yuri L. Karavaev, Sergey A. Trefilov

M. T. Kalashnikov Izhevsk State Technical University, Izhevsk, Russia

Abstract: The paper deals with deviation based control algorithm for trajectory following of omni-wheeled mobile robot. The kinematic model and the dynamics of the robot actuators are described.

Keywords: omni-wheeled mobile robot, discrete algorithm, deviation based control, linearization, feedback.

UDC: 62.529

MSC: 93B18, 93B52

Received: 11.03.2013
Revised: 01.04.2013