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Singularity-free state-space representation for non-holonomic, omnidirectional undercarriages by means of coordinate switching

: Connette, Christian; Hägele, Martin; Verl, Alexander

Postprint urn:nbn:de:0011-n-2346602 (256 KByte PDF)
MD5 Fingerprint: a5330819668ed8e6816b43f7b0cefdc1
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Erstellt am: 27.3.2013

Almeida, A.T. de ; Institute of Electrical and Electronics Engineers -IEEE-; IEEE Robotics and Automation Society; IEEE Industrial Electronics Society:
IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2012. Conference Proceedings. Vol.8 : Celebrating 25 Years of IROS; Vilamoura-Algarve, Portugal, 7 - 12 October 2012
Piscataway/NJ: IEEE, 2012
ISBN: 978-1-4673-1737-5
ISBN: 978-1-4673-1736-8
ISBN: 978-1-4673-1735-1
International Conference on Intelligent Robots and Systems (IROS) <2012, Vilamoura>
Konferenzbeitrag, Elektronische Publikation
Fraunhofer IPA ()
mobiler Roboter; mobile robot; Fahrwerksregelung; Modellbildung; Fahrwerk; Regelung; Kinematik

Non-holonomic, omnidirectional undercarriages that are composed of steered standard wheels seem to provide a solid compromise between versatility, flexibility and high robustness against various ground conditions. However, such undercarriages are characterized by the occurrence of a number of singular configurations. To avoid these singular configurations most control-approaches restrict the admissible configuration-space thus eventually reducing the mobility and flexibility of the undercarriage. Within this work a state-space representation that forms a locally singularity-free atlas of the admissible configurationspace is presented. Based on this state-space description a switching based controller is developed that incorporates the former singular regions into the used configuration space and thus allows to exploit the full flexibility of non-holonomic, omnidirectional undercarriages. The implemented controller is quantitatively and qualitatively evaluated and compared to one approach that avoids the singular regions and one that completely neglects the non-holonomic bindings.