Differential flatness-based motion control of a steer-and-drive omnidirectional mobile robot

Sin Yi Jiang, Kai-Tai Song

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

13 Scopus citations

Abstract

This paper presents a point-to-point pose tracking controller design for a steer-and-drive omnidirectional mobile robot. A method is proposed for smooth position and orientation tracking of the omnidirectional mobile platform based on a differential flatness approach. This method is full-state controllable, which can plan a smooth trajectory for the mobile platform to cope with the problem of limited working space in an indoor environment. It features exploiting unique features of omnidirectional mobility of the motion platform. Experimental results of a four-wheeled steer-and-drive mobile platform validate the effectiveness of the proposed method.

Original languageEnglish
Title of host publication2013 IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2013
Pages1167-1172
Number of pages6
DOIs
StatePublished - 25 Nov 2013
Event2013 10th IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2013 - Takamastu, Japan
Duration: 4 Aug 20137 Aug 2013

Publication series

Name2013 IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2013

Conference

Conference2013 10th IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2013
CountryJapan
CityTakamastu
Period4/08/137/08/13

Keywords

  • differential flatness
  • motion control
  • omnidirectional mobile robot

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