Methods and apparatus for motion planning include receiving a path for movement of a body of a wheeled robot having first and second drive wheels and at least one non-driven caster wheel, the path defined by a series of points; determining, based at least in part on a constant difference in angular velocities between the first and second drive wheels, a set of control torques for the first and second drive wheels to control the robot to move between a first point of the series of points and a second point of the series of points; and applying the set of control torques to the first and second drive wheels.
MOTION PLANNING WITH CASTER CONSTRAINTS
2024-11-21
Patent
Electronic Resource
English
IPC: | B60L PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES , Antrieb von elektrisch angetriebenen Fahrzeugen |
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