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Path Following and Velocity Optimizing for an Omnidirectional Mobile Robot

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Figure

Figure 4 shows the block diagram of the overall
Figure 7. implemented: (a) superimposed snapshots, (b) wheel velocities, (c) robot velocities, and (d) robot state errors with respect to the path coordinate The simulation results when the task prioritizing with 50% minimum percentage of the translational velocity was
Figure 8. The simulation results when the MPC framework with TP = TC = 3wheel velocities, (c) robot velocities, and (d) robot state errors with respect to the path coordinate∆ was employed: (a) superimposed snapshots, (b)

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