Trajectory Control of Omnidirectional Mobile Robots Considering Low-level Actuator Dynamics.
Huan Van PhanHasan FerdwosiNima LotfiPublished in: MED (2020)
Keyphrases
- mobile robot
- trajectory tracking control
- low level
- robot motion
- motion control
- control system
- robot control
- autonomous robots
- dc motor
- robotic systems
- path planning
- kinematic model
- visual servoing
- control method
- high level
- higher level
- vision sensor
- obstacle avoidance
- dynamic environments
- autonomous navigation
- indoor environments
- highly nonlinear
- unstructured environments
- motion planning
- air fuel ratio
- trajectory tracking
- vision system
- collision avoidance
- unknown environments
- collision free
- simultaneous localization and mapping
- lower level
- low level features
- video sequences
- desired trajectory
- active control
- formation control
- adaptive control
- multi robot
- dynamical systems