Abstract:
A nonholonomic model of the dynamics of an omniwheel vehicle on a plane and a sphere is considered. A derivation of equations is presented and the dynamics of a free system are investigated. An explicit motion control algorithm for the omniwheel vehicle moving along an arbitrary trajectory is obtained.
The research concerned with controllability analysis was supported by the grant of the Russian Science Foundation (project no. 14-19-01303). The investigation of free dynamics was carried out within the framework of the state assignment for institutions of higher education.
Citation:
Alexey V. Borisov, Alexander A. Kilin, Ivan S. Mamaev, “Dynamics and Control of an Omniwheel Vehicle”, Regul. Chaotic Dyn., 20:2 (2015), 153–172
\Bibitem{BorKilMam15}
\by Alexey V. Borisov, Alexander A. Kilin, Ivan S. Mamaev
\paper Dynamics and Control of an Omniwheel Vehicle
\jour Regul. Chaotic Dyn.
\yr 2015
\vol 20
\issue 2
\pages 153--172
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