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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
© 2012 IEEE. Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE.
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
S.4959-4965
International Conference on Intelligent Robots and Systems (IROS) <2012, Vilamoura>
Englisch
Konferenzbeitrag, Elektronische Publikation
Fraunhofer IPA ()
mobiler Roboter; mobile robot; Fahrwerksregelung; Modellbildung; Fahrwerk; Regelung; Kinematik

Abstract
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.

: http://publica.fraunhofer.de/dokumente/N-234660.html