Autonomous Control for an Omnidirectional Mobile Robot with Feedback Control System
Recently, an industrial mobile robot has been required to have some abilities that it can freely travels within a confused factory and achieve an accurate positioning in a work station. For this purpose, an active investigation is now focused on the study of omnidirectional mobile robots, instead of a conventional mobile robot with two independent driving wheels, or with the front-wheel handling and rear-wheel driving. The omnidirectional mobile robot has been studied by using a variety of mechanisms. In particular, a holonomic vehicle has a full omnidirectionality with simultaneous and independently controlled rotational and translational motion capabilities. Several omnidirectional platforms have been known to be realized by driving wheel with steering (or offset driving wheel) , , , universal wheels , , spherical tires , or crawler mechanisms , .
KeywordsMobile Robot Circular Path Move Coordinate System Wheel Mobile Robot Character Path
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