Essays about: "differentiell drivning"

Found 1 essay containing the words differentiell drivning.

  1. 1. MPC based Caster Wheel Aware Motion Planning for Differential Drive Robots

    University essay from KTH/Mekatronik

    Author : Jon Arrizabalaga Aguirregomezcorta; [2020]
    Keywords : Mobile robots; differential drive; caster wheels; motion planning; MPC; Mobila robotar; differentiell drivning; hjul; rörelseplanering; MPC;

    Abstract : The inherited rotation in a caster wheel allows movement in any direction, but pays at the expense of reaction torques. When implemented in a mobile robot, these forces have a negative impact in its performance. One approach is to restrict rotations on the spot by attaching a filter to the output of the motion planner. READ MORE