تفاصيل المشروع
Description
The omnidirectional robots were introduced to overcome the stabilization and path tracking
controller design difficulties posed by nonholonomic constraint in the mobile robot dynamic
models [1]. However, dynamic model of the omnidirectional robot is holonomic but it is time
variant nonlinear dynamic system [2]. Several controllers have been designed for this system
to accomplish the stabilization and path tracking objectives [13]. These controllers are
computationally complex and are dependent on the parameters. The dependency of the
controller on the time variant parameters introduces theoretical and experimental difficulties
in the stability analysis and experimental implementation, respectively. In this research, we
will focus on the possibility of designing parameter independent stabilization and path
tracking controllers. This development will improve the autonomous behavior of the
omnidirectional mobile robot.
الحالة | منتهي |
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تاريخ البدء/النهاية الساري | ١/١/١٧ → ١/٣١/١٨ |
بصمة
استكشف موضوعات البحث التي تناولها هذا المشروع. يتم إنشاء هذه الملصقات بناءً على الجوائز/المنح الأساسية. فهما يشكلان معًا بصمة فريدة.