Planning Strategy for the Omni-directional Movement Path of the Four-wheel Differential Robot

DOI

10.2991/emeit.2012.295How to use a DOI?

Keywords

four-wheel differential, kinematics, dynamics, temporary path

Abstract

The four-wheel differential omni-directional mobile robot has shown a strong research value and application prospect. This paper explored the kinematics and dynamics model of the omni-directional mobile robot by former differential and rear differential features, with a particular focus on its path planning strategy. The design includes path planning reference point, whilst analysis was made on the temporary path design strategy for linear and circular two features, with the resulting temporary path being optimal and most valid. This paper concludes with the research results that are available for providing the necessary preliminary studies and theoretical basis for the control of the mobile robot of this type.

Copyright

© 2012, the Authors. Published by Atlantis Press.

Open Access

This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).

Download article (PDF)

TY  - CONF
AU  - Xue Wang
AU  - Wei Ma
AU  - Yiran Chen
PY  - 2012/09
DA  - 2012/09
TI  - Planning Strategy for the Omni-directional Movement Path of the Four-wheel Differential Robot
BT  - Proceedings of the 2nd International Conference on Electronic & Mechanical Engineering and Information Technology (EMEIT 2012)
PB  - Atlantis Press
SP  - 1333
EP  - 1337
SN  - 1951-6851
UR  - https://doi.org/10.2991/emeit.2012.295
DO  - 10.2991/emeit.2012.295
ID  - Wang2012/09
ER  -