Motion Estimation of an Omnidirectional Mobile Robot  

作　　者：Mkhinini Maher Knani Jilani 

机构地区：[1]Unite de Recherche LA.R.A Automatique, Ecole Nationale d＇Ingenieurs, ENIT Tunis 1002, Tunisia

出　　处：《Journal of Mechanics Engineering and Automation》2011年第5期357-364,共8页机械工程与自动化（英文版）

摘　　要：The motion＇s generation consists in finding an analytic expression of a motion according to time. A Map road type planner or Cell decomposition provide to the motion generator some possible free crossing points of collision. The global trajectory＇s interpolation by a polynomial is generally not possible, because the degree of the polynomial increases with the number of crossing points which can generate vibrations or loops of the. trajectory. The solution consists in using polynomials in an inferior degree and to build the motion in pieces. The theoretical developments concern the motion＇s generation, the modeling of the vehicle, then the management of its redundancy steam-power. All these methods contribute to improve the robot precision （accuracy）. The authors are presenting the motion＇s generator which constructs into lines a continuous trajectory C2 while enabling the transformation of the crossing points into lines. The generator presented here as part of omnidirectional robot is adaptable to any kind of vehicle.

关 键 词：ROBOTICS generation control MOTION omnidirectionnal mobile robot. 

分 类 号：U463.33[机械工程—车辆工程] TP242[交通运输工程—载运工具运用工程]