Geometric path following control for an omnidirectional mobile robot

摘要

The paper describes an approach to the development of the geometric path following control for an omnidirectional mobile robot. Desired path of movement in the space is represented by an intersection of two implicit surfaces. Path following control problem is posed as a problem of maintaining the holonomic relationships between the system outputs. Control is synthesized using the dierential geometrical method through nonlinear transformation of initial dynamic model. The main results presented are the nonlinear control algorithms and experimental approbation result.