Gyroscopy and Navigation

, Volume 7, Issue 4, pp 353–359 | Cite as

Path following control algorithms implemented in a mobile robot with omni wheels

  • J. Wang
  • A. Yu. Krasnov
  • Yu. A. Kapitanyuk
  • S. A. Chepinskiy
  • Y. Chen
  • H. Liu


The paper focuses on the problem of synthesis of path following control for a robot with omni wheels. Control is synthesized using differential geometry methods through nonlinear transformation of the initial dynamic model. The main results are presented in the form of nonlinear control algorithm and experimental data.


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Copyright information

© Pleiades Publishing, Ltd. 2016

Authors and Affiliations

  • J. Wang
    • 1
  • A. Yu. Krasnov
    • 2
  • Yu. A. Kapitanyuk
    • 3
  • S. A. Chepinskiy
    • 1
    • 2
  • Y. Chen
    • 2
  • H. Liu
    • 2
  1. 1.Hangzhou Dianzi UniversityZhejiangChina
  2. 2.ITMO UniversitySt. PetersburgRussia
  3. 3.Groningen UniversityGroningenNetherlands

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