Motion Planning and Control of an Omnidirectional Mobile Robot in Dynamic Environments

Motion control of an omnidirectional mobile robot

This paper focuses on the motion control problem of an omnidirectional mobile robot. A new control method based on the inverse input-output linearized kinematic model is proposed. As the actuator saturation and actuator dynamics have important impacts on the robot performance, this control law takes into account these two aspects and guarantees the stability of the closed-loop control system. R...

Motion control of an omnidirectional mobile robot

Path Following and Velocity Optimizing for an Omnidirectional Mobile Robot

In this paper, the path following controller of an omnidirectional mobile robot (OMR) has been extended in such a way that the forward velocity has been optimized and the actuator velocity constraints have been taken into account. Both have been attained through the proposed model predictive control (MPC) framework. The forward velocity has been included into the objective function, while the a...

Reactive Motion Control for an Omnidirectional Mobile Robot

This paper presents the developed practical approach to reactive motion control for the omnidirectional mobile vehicle of the Karlsruhe Autonomous Mobile Robot (KAMRO). The reactive control is based on the ultrasonic sensory information processing and is a supplement to the usual motion control of the vehicle. The geometrical path planner on the base of the environmental model generates global ...

Robot Motion Planning in Dynamic Environments

This paper presents a method for computing the motions of a robot in dynamic environments, subject to the robot dynamics and its actuator constraints. This method is based on the concept of Velocity Obstacle, which deenes the set of feasible robot velocities that would result in a collision between the robot and an obstacle moving at a given velocity. The avoidance maneuver at a spe-ciic time i...