Singularity avoidance for over-actuated, pseudo-omnidirectional, wheeled mobile robots

Abstract

For mobile platforms with steerable standard wheels it is necessary to precisely coordinate rotation and steering angle of their wheels. An established approach to ensure this is to represent the current state of motion in form of the Instantaneous Centre of Motion (ICM) and to derive a trajectory within this space. However, while control in the ICM space… (More)
DOI: 10.1109/ROBOT.2009.5152450

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