MPC-Based Path Following Control of an Omnidirectional Mobile Robot with Consideration of Robot Constraints
In this paper, the path following problem of an omnidirectional mobile robot (OMR) has been studied. Unlike nonholonomic mobile robots, translational and rotational movements of OMRs can be controlled simultaneously and independently. However the constraints of translational and rotational velocitie...
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| Format: | Article |
| Language: | English |
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VSB-Technical University of Ostrava
2015-01-01
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| Series: | Advances in Electrical and Electronic Engineering |
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| Online Access: | http://advances.utc.sk/index.php/AEEE/article/view/1228 |