Controlled motion of a highly maneuverable mobile robot along curvilinear trajectories

Abstract

This paper presents the control algorithm of an omnidirectional mobile robot to implement motion along curvilinear trajectories. The trajectory is defined by the Bezier curves of the third order. An algorithm is proposed to generate control actions for the robot’s motion along a given curvilinear trajectory, taking into account the processes of acceleration and deceleration. The experimental results confirm the applicability of the proposed method.