This article is cited in 2 scientific papers (total in 2 papers)
Control of a vehicle with omniwheels on a plane
Alexander A. Kilin, Andrei D. Bobykin
Udmurt State University, Universitetskaya 1, Izhevsk, 426034 Russia
The problem of motion of a vehicle in the form of a platform with an arbitrary number of Mecanum wheels fastened on it is considered. The controllability of this vehicle is discussed within the framework of the nonholonomic rolling model. An explicit algorithm is presented for calculating the control torques of the motors required to follow an arbitrary trajectory. Examples of controls for executing the simplest maneuvers are given.
omniwheel, roller bearing wheel, nonholonomic constraint, dynamical system, integrability, controllability.
PDF file (517 kB)
MSC: 70F25, 70E18, 70E55, 70E60
Alexander A. Kilin, Andrei D. Bobykin, “Control of a vehicle with omniwheels on a plane”, Nelin. Dinam., 10:4 (2014), 473–481
Citation in format AMSBIB
\by Alexander~A.~Kilin, Andrei~D.~Bobykin
\paper Control of a vehicle with omniwheels on a plane
\jour Nelin. Dinam.
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B. I. Adamov, “A Study of the Controlled Motion of a Four-wheeled Mecanum Platform”, Nelineinaya dinam., 14:2 (2018), 265–290
Yu. L. Karavaev, V. A. Shestakov, K. S. Yefremov, “Experimental Investigations of the Control Algorithm of a Mobile Manipulation Robot”, Nelineinaya dinam., 15:4 (2019), 487–495
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