Feedback Control of an Omnidirectional Autonomous Platform for Mobile Service Robots

@article{Watanabe1998FeedbackCO,
  title={Feedback Control of an Omnidirectional Autonomous Platform for Mobile Service Robots},
  author={Keigo Watanabe and Yamato Shiraishi and Spyros G. Tzafestas and Jun Tang and Toshio Fukuda},
  journal={Journal of Intelligent and Robotic Systems},
  year={1998},
  volume={22},
  pages={315-330}
}
This paper proposes a feedback control scheme for an omnidirectional holonomic autonomous platform, which is equipped with three lateral orthogonal-wheel assemblies. Firstly, the dynamic properties of the platform are studied, and a dynamic model suitable for the application of control is derived. The control scheme constructed is of the resolved-acceleration type, with PI and PD feedback. The control scheme was experimentally applied to an actual mobile robotic platform. The results obtained… CONTINUE READING

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