全向自主移动机器人的几何运动学建模及其应用

Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065) Pub Date : 2000-04-24 DOI:10.1109/ROBOT.2000.846328

Dongsung Kim, Hyun Chul Lee, W. Kwon

{"title":"全向自主移动机器人的几何运动学建模及其应用","authors":"Dongsung Kim, Hyun Chul Lee, W. Kwon","doi":"10.1109/ROBOT.2000.846328","DOIUrl":null,"url":null,"abstract":"A geometric kinematics modeling of a three wheeled autonomous mobile robot is proposed. Three types of basic motions are proposed for the path generation of the developed mobile robot. All paths of the mobile robot are achieved by the combination of proposed basic motions. The proposed scheme is verified through computer simulations and a practical model.","PeriodicalId":286422,"journal":{"name":"Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065)","volume":"41 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2000-04-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"40","resultStr":"{\"title\":\"Geometric kinematics modeling of omni-directional autonomous mobile robot and its applications\",\"authors\":\"Dongsung Kim, Hyun Chul Lee, W. Kwon\",\"doi\":\"10.1109/ROBOT.2000.846328\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"A geometric kinematics modeling of a three wheeled autonomous mobile robot is proposed. Three types of basic motions are proposed for the path generation of the developed mobile robot. All paths of the mobile robot are achieved by the combination of proposed basic motions. The proposed scheme is verified through computer simulations and a practical model.\",\"PeriodicalId\":286422,\"journal\":{\"name\":\"Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065)\",\"volume\":\"41 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2000-04-24\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"40\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065)\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/ROBOT.2000.846328\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ROBOT.2000.846328","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}

引用次数: 40

摘要

提出了一种三轮自主移动机器人的几何运动学模型。提出了三种基本运动类型用于所开发的移动机器人的路径生成。移动机器人的所有路径都是由提出的基本运动组合实现的。通过计算机仿真和实际模型验证了该方案的有效性。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

查看原文本刊更多论文

Geometric kinematics modeling of omni-directional autonomous mobile robot and its applications

A geometric kinematics modeling of a three wheeled autonomous mobile robot is proposed. Three types of basic motions are proposed for the path generation of the developed mobile robot. All paths of the mobile robot are achieved by the combination of proposed basic motions. The proposed scheme is verified through computer simulations and a practical model.

求助全文

通过发布文献求助，成功后即可免费获取论文全文。去求助

来源期刊

Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065)

自引率

0.00%

发文量