The Virtual Wheel Concept for the Singularity-Free Kinematics and Dynamics Modeling and Control of Pseudo-Omnidirectional Vehicles.
Christoph StögerHubert GattringerAndreas MüllerPublished in: IEEE Robotics Autom. Lett. (2021)
Keyphrases
- wheel slip
- autonomous vehicles
- highly nonlinear
- control system
- air fuel ratio
- dynamical systems
- virtual environment
- wheeled mobile robots
- mobile robot
- dynamic model
- vision system
- augmented reality
- optimal control
- parallel manipulator
- modeling method
- image sequences
- kinematic model
- end effector
- nonlinear dynamics
- single camera
- control strategy
- degrees of freedom
- path planning
- pose estimation