C. Guarino Lo Bianco, A. Piazzi, and M. Romano
5th IFAC Symposium on Intelligent Autonomous Vehicles, IAV2004, July 5-7, 2004
The paper investigates and proposes a solution for the smooth control of a wheeled omnidirectional mobile robot. The flexibility of this holonomous robot is fully exploited by means of the control strategy proposed. It is based on two main concepts: a Cartesian path planning and a wheel command generation based on the dynamic inversion of the robot kinematic model. The planned path has to exhibit appropriate geometric characteristics in order to generate wheel command signals with continuous accelerations. In particular, the second order geometric continuity of the path, i.e. the continuity of the curvature, has to be guaranteed. Simulation results concerning a perturbed system are reported.