Model predictive tracking control for wheeled mobile robots considering limitation and continuity of steering angles-Reference-Cited by-同舟云学术

Model predictive tracking control for wheeled mobile robots considering limitation and continuity of steering angles

Published:2015 Issue:825 Volume:81 Page:14-00484-14-00484
ISSN:2187-9761
Container-title:Transactions of the JSME (in Japanese)
language:en
Short-container-title:

Author:

HAGIMORI Yuki¹,TAKAHASHI Naoki¹,NONAKA Kenichiro²

Affiliation:

1. Mechanical Systems Engineering, Graduate School of Engineering, Tokyo City University

2. Department of Mechanical Systems Engineering, Tokyo City University

Publisher

Japan Society of Mechanical Engineers

Link

https://www.jstage.jst.go.jp/article/transjsme/81/825/81_14-00484/_pdf

Reference18 articles.

1. Asama, H., Sato, M., Kaetsu, H., Ozaki, K., Matsumoto, A. and Endo, I., Development of an omni-directional mobile robot with 3 dof decoupling drive mechanism, Journal of the Robotics Society of Japan, Vol.14, No.2 (1996), pp.249-254 (in Japanese).

2. Connette, C. P., Pott, A., Hägele, M. and Verl, A., Control of an pseudo-omnidirectional, non-holonomic, mobile robot based on an ICM representation in spherical coordinates, Proceedings of the 47th IEEE Conference on Decision and Control (2008), pp. 4976-4983.

3. Connette, C. P., Hofmeister, S., Bubeck, A., Hägele, M. and Verl, A., Model-predictive undercarriage control for a pseudo-omnidirectional, wheeled mobile robot, Proceedings of the joint conference of the 41st International Symposium on Robotics and the 6th German Conference on Robotics (2010), pp. 1178-1183.

4. Connette, C., Hägele, M. and Verl, A., Singularity-free state-space representation for non-holonomic, omnidirectional undercarriages by means of coodinate switching, 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems (2012), pp. 4959-4965.

5. Fujisawa, S., Ohkubo, K., Shidama, Y. and Yamaura, H., Kinematics and moving properties of a four-wheel-drive, omnidirectional mobile robot, Transactions of the Japan Society of Mechanical Engineers, Series C, Vol.62, No.604 (1996), pp.4573-4579 (in Japanese).