Motion Planning and Control of an Omnidirectional Mobile Robot in Dynamic Environments

Motion Planning and Control of an Omnidirectional Mobile Robot in Dynamic Environments

Motion control in dynamic environments is one of the most important problems in using mobile robots in collaboration with humans and other robots. In this paper, the motion control of a four-Mecanum-wheeled omnidirectional mobile robot (OMR) in dynamic environments is studied. The robot’s differenti...

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Bibliographic Details
Main Authors: Mahmood Reza Azizi, Alireza Rastegarpanah, Rustam Stolkin
Format: Article
Language:English
Published: MDPI AG 2021-03-01
Series:Robotics
Subjects:
omnidirectional mobile robot
Kane’s dynamics
model predictive control
velocity obstacles
obstacle avoidance
Online Access:https://www.mdpi.com/2218-6581/10/1/48

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