第3期 冷春涛，等：四轮全方位移动机器人各向相异性研究 ·51 wheels[A].7th International Conference on Control, 参考文献： Automation,Robotics and Vision[C].Singapore,2002. [1]HE Zhenfeng,L IN Lanfen,MA Xueying.Design,mod- [7]VIBOONCHAICHEEP P,SHIMADA A,KOSAKA Y eling and trajectory generation of a kind of four wheeled et al.Rectification control for mecanum wheeled omnidi- omnidirectional vehicle[A].IEEE International Confer- rectional vehicles [A].The 29th Annual Conference of ence on systems,Man and Cyberneties [C].Hague, the IEEE[C].Virginia,USA,2003. Netherland.2004,. (8]WILLIAMS RL,CARTER B E,GALL INA P.Dynam- [2]WADA M,ASADA HH.Design and control of a varia- ic model with slip for wheeled omnidirectional robots[J]. ble footprint mechanism for holonomic omnidirectional IEEE transactions on robotics and automation,2002,18 vehicles and its application to wheelchairs [J ]IEEE (3):285.293. Transactions on Robotics and Automation,1999,15(6): [9]BALA KRISHNA R,GHOSAL A.Modeling of slip for 978.989. wheeled mobile robots[J ]IEEE Transactions on Robot- [3]SON GJ B,BYUN K S.Design and control of a four- ics and Automation,1995,11(1):126-132. Wheeled omnidirectional mobile robot with steerable om- [10]余志生.汽车理论[M们.北京：机械工业出版社，1990. nidirectional wheels [J ]Journal of Robotic Systems, [11 ]AN GEL ES J.Fundamentals of robotic mechanical sys- 2004,21(4):193-208. tems:Theory,methods,and algorithms:2nd Ed[M]. [4]ASHMORE M,BARNES N.Omni-drive robot motion New York:Springer-Verlag,2003. on curved paths:the fastest path between two points is 作者简介： not a straight-line[A].Proc Australian Joint Conference 冷春涛，男，1981年生，博士研究生， on Artificial Intelligence [C ]Canberra,Australia, 主要研究方向为机器人、智能控制. 2002. Email ctleng @sjtu.edu.cn. [5]张翻，熊蓉等，褚健，等.一种全方位移动机器人的运 动分析与控制实现[J].浙江大学学报（工学版），2004,38 (12):1650.1653. ZHANG He,XIONG Rong,CHU Jian,et al.Motion a nalysis and control realization of omnidirectional robot [J ]Journal of Zhejiang University Engineering Sci- 曹其新，男，1960年生，教授，博士生 ence),2004,38(12):1650.1653. 导师，现任上海交通大学机器人研究所 [6]L EOW Y P,LOW K H,LOH W K.Kinematic model- 常务副所长.主要研究方向为机器视觉与 ling and analysis of mobile robots with omni-directional 模式识别、异构多机器人的协作与控制. E mail qxcao @sjtu.edu.cn. 1994-2008 China Academic Journal Electronic Publishing House.All rights reserved.http://www.cnki.net参考文献 : [1 ] HE Zhenfeng , L IN Lanfen , MA Xueying. Design , mod2 eling and trajectory generation of a kind of four wheeled omni2directional vehicle[ A ]. IEEE International Confer2 ence on systems , Man and Cyberneties [ C ]. Hague , Netherland. 2004 ,. [2 ]WADA M , ASADA H H. Design and control of a varia2 ble footprint mechanism for holonomic omnidirectional vehicles and its application to wheelchairs [J ]. IEEE Transactions on Robotics and Automation , 1999 , 15 (6) : 978 - 989. [3 ]SON G J B , B YUN K S. Design and control of a four2 Wheeled omnidirectional mobile robot with steerable om2 nidirectional wheels [J ]. Journal of Robotic Systems , 2004 , 21 (4) :193 - 208. [4 ] ASHMORE M , BARNES N. Omni2drive robot motion on curved paths: the fastest path between two points is not a straight2line[ A ]. Proc Australian Joint Conference on Artificial Intelligence [ C ]. Canberra , Australia , 2002. [5 ]张 翮 ,熊蓉等 ,褚 健 ,等. 一种全方位移动机器人的运 动分析与控制实现[J ]. 浙江大学学报(工学版) ,2004 ,38 (12) :1650 - 1653. ZHAN G He , XION G Rong , CHU Jian , et al. Motion a2 nalysis and control realization of omnidirectional robot [J ]. Journal of Zhejiang University ( Engineering Sci2 ence) , 2004 , 38 (12) :1650 - 1653. [6 ]L EOW Y P , LOW K H , LO H W K. Kinematic model2 ling and analysis of mobile robots with omni2directional wheels [ A ]. 7th International Conference on Control , Automation , Robotics and Vision[C]. Singapore , 2002. [7 ]VIBOONCHAICHEEP P , SHIMADA A , KOSA KA Y et al. Rectification control for mecanum wheeled omni2di2 rectional vehicles [ A ]. The 29th Annual Conference of the IEEE[C]. Virginia , USA , 2003. [8 ]WILL IAMS R L , CARTER B E , GALL INA P. Dynam2 ic model with slip for wheeled omnidirectional robots[J ]. IEEE transactions on robotics and automation , 2002 , 18 (3) :285 - 293. [9 ]BALA KRISHNA R , GHOSAL A. Modeling of slip for wheeled mobile robots[J ]. IEEE Transactions on Robot2 ics and Automation , 1995 ,11 (1) :126 - 132. [10 ]余志生. 汽车理论[ M]. 北京 :机械工业出版社 ,1990. [11 ]AN GEL ES J. Fundamentals of robotic mechanical sys2 tems: Theory , methods , and algorithms: 2nd Ed [ M ]. New York : Springer2Verlag , 2003. 作者简介 : 冷春涛 ,男 ,1981 年生 ,博士研究生 , 主要研究方向为机器人、智能控制. E2mail :ctleng @sjtu. edu. cn. 曹其新 ,男 ,1960 年生 ,教授 ,博士生 导师 ,现任上海交通大学机器人研究所 常务副所长. 主要研究方向为机器视觉与 模式识别、异构多机器人的协作与控制. 15 · E2mail :qxcao @sjtu. edu. cn. 第 3 期 冷春涛 ,等 :四轮全方位移动机器人各向相异性研究 ·