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Journal Articles

Sharp Curve Trajectory Tracking of a Universal Omni-Wheeled Mobile Robot Using a Sliding Mode Controller

Nalaka Amarasiri, Alan A. Barhorst, Raju Gottumukkala
Journal: ASME Letters in Dynamic Systems and Control
Publisher: ASME
Article Type: Technical Briefs
Letters Dyn. Sys. Control. April 2025, 5(2): 024501.
Paper No: ALDSC-24-1025
https://doi.org/10.1115/1.4066937
Published Online: November 6, 2024
...Nalaka Amarasiri; Alan A. Barhorst; Raju Gottumukkala In our previous works, Amarasiri et al. (2022, “Robust Dynamic Modeling and Trajectory Tracking Controller of a Universal Omni-Wheeled Mobile Robot,” ASME Lett. Dyn. Sys. Control 2(4), p. 040902) and Amarasiri et al. (2024, “Investigating...
View Article titled, Sharp Curve Trajectory Tracking of a Universal Omni-Wheeled <span class="search-highlight">Mobile</span> <span class="search-highlight">Robot</span> Using a Sliding Mode Controller
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Topics: Control equipment, Mobile robots, Momentum, Robots, Sliding mode control, Trajectories (Physics), Dynamic models, Dynamic modeling
Journal Articles

Investigating Suitable Combinations of Dynamic Models and Control Techniques for Offline Reinforcement Learning Based Navigation: Application of Universal Omni-Wheeled Robots

Nalaka Amarasiri, Alan A. Barhorst, Raju Gottumukkala
Journal: ASME Letters in Dynamic Systems and Control
Publisher: ASME
Article Type: Research Papers
Letters Dyn. Sys. Control. April 2024, 4(2): 021007.
Paper No: ALDSC-23-1074
https://doi.org/10.1115/1.4064517
Published Online: March 7, 2024
...Nalaka Amarasiri; Alan A. Barhorst; Raju Gottumukkala Omnidirectional locomotion provides wheeled mobile robots (WMR) with better maneuverability and flexibility, which enhances their energy efficiency and dexterity. Universal omni-wheels are one of the best categories of wheels that can be used...
View Article titled, Investigating Suitable Combinations of Dynamic Models and Control Techniques for Offline Reinforcement Learning Based Navigation: Application of Universal Omni-Wheeled Robots
Open the PDF for Investigating Suitable Combinations of Dynamic Models and Control Techniques for Offline Reinforcement Learning Based Navigation: Application of Universal Omni-Wheeled Robots in another window
Topics: Control equipment, Dynamic models, Momentum, Dynamic modeling, Pole placement, Robots, Kinematics
Journal Articles

Robust Dynamic Modeling and Trajectory Tracking Controller of a Universal Omni-Wheeled Mobile Robot

Nalaka Amarasiri, Alan A. Barhorst, Raju Gottumukkala
Journal: ASME Letters in Dynamic Systems and Control
Publisher: ASME
Article Type: Research Papers
Letters Dyn. Sys. Control. October 2022, 2(4): 040902.
Paper No: ALDSC-22-1025
https://doi.org/10.1115/1.4055690
Published Online: October 19, 2022
...Nalaka Amarasiri; Alan A. Barhorst; Raju Gottumukkala Omnidirectional mobile robots are widely used in studies and services as they are effective and efficient in moving in any direction regardless of their current orientation. These significant properties are very useful in energy-efficient...
View Article titled, Robust Dynamic Modeling and Trajectory Tracking Controller of a Universal Omni-Wheeled <span class="search-highlight">Mobile</span> <span class="search-highlight">Robot</span>
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Topics: Control equipment, Kinematics, Mobile robots, Robots, Trajectories (Physics), Wheels, Dynamics (Mechanics), Modeling, Dynamic modeling, Dynamic models