Velocity and acceleration cones for kinematic and dynamic constraints on omni-directional mobile robots

Journal of Dynamic Systems, Measurement and Control, Transactions of the ASME

Volumn 128, Issue 4, 2006, Pages 788-799

  Wu, Jianhua ^a   Williams II, Robert L ^a   Lew, Jae ^b  

^a US Institute of Navigation   (United States)

^b EATON CORPORATION   (United States)

Author keywords

Acceleration cone; Actuator saturation; Dynamic path planning; Kinematic and dynamic constraints; Mobile robot; Velocity cone; Wheel slippage

Indexed keywords

ACTUATOR SATURATION; DYNAMIC PATH PLANNING; VELOCITY CONES; WHEEL SLIPPAGE;

ACCELERATION MEASUREMENT; ACTUATORS; COMPUTER SIMULATION; KINEMATICS; MATHEMATICAL MODELS; MOTION PLANNING;

MOBILE ROBOTS;

EID: 33845941687     PISSN: 00220434     EISSN: None     Source Type: Journal    
DOI: 10.1115/1.2361318     Document Type: Article

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