Trajectory tracking control of slidable-wheel omnidirectional mobile robot based on linear model predictive control

Omnidirectional mobile robots with conventional wheels avoid the drawbacks (e.g., shock, slippage, and low load capacity) of omnidirectional mobile robots with wheels that have special structures. We previously proposed such a robot, called the slidable-wheel omnidirectional mobile robot (SWOM), as...

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Bibliographic Details

Published in:	Journal of Advanced Mechanical Design, Systems, and Manufacturing
Main Authors:	Huang XU, Tatsuro TERAKAWA, Masaharu KOMORI
Format:	Article
Language:	English
Published:	The Japan Society of Mechanical Engineers 2025-03-01
Subjects:	model predictive control omnidirectional mobile robot trajectory tracking linearization reference path generation
Online Access:	https://www.jstage.jst.go.jp/article/jamdsm/19/1/19_2025jamdsm0011/_pdf/-char/en