The Journal of Korea Robotics Society (로봇학회논문지)

Korea Robotics Society (한국로봇학회)
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Simultaneous path tracking and orientation control for three-wheeled omni-directional robots

삼륜형 전방향 이동로봇을 위한 경로추종 및 방위제어

  • Received : 2015.01.29
  • Accepted : 2015.04.27
  • Published : 2015.08.31
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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.

Keywords

References

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