Planning Strategy for the Omni-directional Movement Path of the Four-wheel Differential Robot
The four-wheel differential omni-directional mobile robot has shown a strong research value and application prospect.This paper explored the kinematics and dynamics model of the omni-directional mobile robot by former differential and rear differential features,with a particular focus on its path planning strategy.The design includes path planning reference point,whilst analysis was made on the temporary path design strategy for linear and circular two features,with the resulting temporary path being optimal and most valid.This paper concludes with the research results that are available for providing the necessary preliminary studies and theoretical basis for the control of the mobile robot of this type.
four-wheel differential kinematics dynamics temporary path
Wang Xue Ma Wei Chen Yiran
School of Electrical & Information,Chongqing University of Science & Technology,Chongqing 401331,P.R School of Mechanic Engineering Institute,Chongqing University,Chongqing,400044,P.R.China
国际会议
沈阳
英文
1333-1337
2012-09-26（万方平台首次上网日期，不代表论文的发表时间）