Navigation and dynamic control of omnidirectional platforms

Abstract:

This work proposes a Path Planning method using the virtual potential field, which provides a parameterized path in the space so that the omnidirectional mobile platform to reach the desired point and kinematic modeling of the platform to propose a Nonlinear Controller, that’s used to execute the path-following by means of Linear Algebra, for to correct the desired position and orientation of the omnidirectional platform use a dynamic compensation.

Año de publicación:

2017

Keywords:

• Kinematic modeling
• Nonlinear
• PATH PLANNING
• dynamic
• Controller

Fuente:

scopus

google