Trajectory Tracking of an Omni-Directional Wheeled Mobile Robot Using a Model Predictive Control Strategy

Trajectory Tracking of an Omni-Directional Wheeled Mobile Robot Using a Model Predictive Control Strategy

This paper addresses trajectory tracking of an omni-directional mobile robot (OMR) with three mecanum wheels and a fully symmetrical configuration. The omni-directional wheeled robot outperforms the non-holonomic wheeled robot due to its ability to rotate and translate independently and simultaneous...

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Bibliographic Details
Main Authors: Chengcheng Wang, Xiaofeng Liu, Xianqiang Yang, Fang Hu, Aimin Jiang, Chenguang Yang
Format: Article
Language:English
Published: MDPI AG 2018-02-01
Series:Applied Sciences
Subjects:
omni-directional mobile robot (OMR)
kinematics model
model predictive control
point stabilization
trajectory tracking
Online Access:http://www.mdpi.com/2076-3417/8/2/231

Internet

http://www.mdpi.com/2076-3417/8/2/231

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