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Authors
Andre Scolari Conceicao; A. Paulo Moreira; Paulo J. Costa

Identifier
10.3182/20060906-3-IT-2910.00022

Index Terms
mobile robots,omni-direction,trajectory design

Abstract
In this paper, we propose an algorithm that combine the restriction on motor's velocities and the kinematic model of Omni-Directional mobile robots to improve the trajectory's following. The algorithm verifies the reference velocities of the robot and redefine them if necessary, in order to prevent possible saturation on motor's velocities. Simulation results of the algorithm applied to an omni-directional mobile robot are presented.

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