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Nelin. Dinam., 2014, Volume 10, Number 4, Pages 473–481 (Mi nd458)  

This article is cited in 1 scientific paper (total in 1 paper)

Control of a vehicle with omniwheels on a plane

Alexander A. Kilin, Andrei D. Bobykin

Udmurt State University, Universitetskaya 1, Izhevsk, 426034 Russia

Abstract: 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.

Keywords: omniwheel, roller bearing wheel, nonholonomic constraint, dynamical system, integrability, controllability.

Full text: PDF file (517 kB)
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Document Type: Article
UDC: 531.3
MSC: 70F25, 70E18, 70E55, 70E60
Received: 04.09.2014
Revised: 14.10.2014

Citation: 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
\Bibitem{KilBob14}
\by Alexander~A.~Kilin, Andrei~D.~Bobykin
\paper Control of a vehicle with omniwheels on a plane
\jour Nelin. Dinam.
\yr 2014
\vol 10
\issue 4
\pages 473--481
\mathnet{http://mi.mathnet.ru/nd458}


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  • http://mi.mathnet.ru/eng/nd/v10/i4/p473

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    Citing articles on Google Scholar: Russian citations, English citations
    Related articles on Google Scholar: Russian articles, English articles

    This publication is cited in the following articles:
    1. B. I. Adamov, “A Study of the Controlled Motion of a Four-wheeled Mecanum Platform”, Nelineinaya dinam., 14:2 (2018), 265–290  mathnet  crossref  elib
  • Нелинейная динамика
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