A novel time optimal path following controller with bounded velocities for mobile robots with independently steerable wheels

@article{Oftadeh2013ANT,
  title={A novel time optimal path following controller with bounded velocities for mobile robots with independently steerable wheels},
  author={Reza Oftadeh and Reza Ghabcheloo and Jouni Mattila},
  journal={2013 IEEE/RSJ International Conference on Intelligent Robots and Systems},
  year={2013},
  pages={4845-4851}
}
Mobile robots with independently steerable wheels possess many high maneuverability features of omnidirectional robots while benefiting from better performance and capability of moving on rough terrains. However, motion control of such robots is a challenging task due to presence of singular configurations and unboundedly large steering velocities in the neighborhood of those singularities. Many proposed approaches rely on numerical solutions that keep the robot out of bulky regions around the… CONTINUE READING
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Mechatronic design of a four wheel steering mobile robot with fault-tolerant odometry feedback

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  • The 6th IFAC Symposium on Mechatronic Systems…
  • 2013
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