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A caster-wheel-aware MPC-based motion planner for mobile robotics
[article]
2021
arXiv
pre-print
Differential drive mobile robots often use one or more caster wheels for balance. Caster wheels are appreciated for their ability to turn in any direction almost on the spot, allowing the robot to do the same and thereby greatly simplifying the motion planning and control. However, in aligning the caster wheels to the intended direction of motion they produce a so-called bore torque. As a result, additional motor torque is required to move the robot, which may in some cases exceed the motor
arXiv:2110.05604v1
fatcat:e2hjzvxnejfe3oycovi6pkavq4