Abstract
This work proposes a Path Planning method using the virtual potential field, which provides a parameterized path in the space so that the omnidirectional mobile platform to reach the desired point and kinematic modeling of the platform to propose a Nonlinear Controller, that’s used to execute the path-following by means of Linear Algebra, for to correct the desired position and orientation of the omnidirectional platform use a dynamic compensation.
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Andaluz, V.H., Carvajal, C.P., Santana G., A., Zambrano, V.D., Pérez, J.A. (2017). Navigation and Dynamic Control of Omnidirectional Platforms. In: Gao, Y., Fallah, S., Jin, Y., Lekakou, C. (eds) Towards Autonomous Robotic Systems. TAROS 2017. Lecture Notes in Computer Science(), vol 10454. Springer, Cham. https://doi.org/10.1007/978-3-319-64107-2_54
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DOI: https://doi.org/10.1007/978-3-319-64107-2_54
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