Nelineinaya Dinamika [Russian Journal of Nonlinear Dynamics]
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Nelineinaya Dinamika [Russian Journal of Nonlinear Dynamics], 2014, Volume 10, Number 4, Pages 473–481 (Mi nd458)  

This article is cited in 7 scientific papers (total in 7 papers)

Control of a vehicle with omniwheels on a plane

Alexander A. Kilin, Andrei D. Bobykin

Udmurt State University, Universitetskaya 1, Izhevsk, 426034 Russia
Full-text PDF (517 kB) Citations (7)
References:
Abstract: The problem of motion of a vehicle in the form of a platform with an arbitrary number of Mecanum wheels fastened on it is considered. The controllability of this vehicle is discussed within the framework of the nonholonomic rolling model. An explicit algorithm is presented for calculating the control torques of the motors required to follow an arbitrary trajectory. Examples of controls for executing the simplest maneuvers are given.
Keywords: omniwheel, roller bearing wheel, nonholonomic constraint, dynamical system, integrability, controllability.
Received: 04.09.2014
Revised: 14.10.2014
Document Type: Article
UDC: 531.3
Language: Russian
Citation: Alexander A. Kilin, Andrei D. Bobykin, “Control of a vehicle with omniwheels on a plane”, Nelin. Dinam., 10:4 (2014), 473–481
Citation in format AMSBIB
\Bibitem{KilBob14}
\by Alexander~A.~Kilin, Andrei~D.~Bobykin
\paper Control of a vehicle with omniwheels on a plane
\jour Nelin. Dinam.
\yr 2014
\vol 10
\issue 4
\pages 473--481
\mathnet{http://mi.mathnet.ru/nd458}
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  • https://www.mathnet.ru/eng/nd458
  • https://www.mathnet.ru/eng/nd/v10/i4/p473
  • This publication is cited in the following 7 articles:
    Citing articles in Google Scholar: Russian citations, English citations
    Related articles in Google Scholar: Russian articles, English articles
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