Control of a mobile robot with Swedish wheels

  title={Control of a mobile robot with Swedish wheels},
  author={Larissa Labakhua and Ism{\'e}nio E. Martins and Merkuryev Igor},
  journal={2017 IEEE International Conference on Power, Control, Signals and Instrumentation Engineering (ICPCSI)},
  • Larissa LabakhuaI. MartinsM. Igor
  • Published 1 September 2017
  • Engineering
  • 2017 IEEE International Conference on Power, Control, Signals and Instrumentation Engineering (ICPCSI)
This paper proposes a motion control study of a mobile robot-manipulator, provided with Swedish wheels. Was written the robot motion control differential equations, considering the wheels' slipping. It is proposed a mobile robot mathematical model construction, the movement control in different conditions of operation, and the mobile robot movement energy costs optimization. 

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