Tamás Kalmár-Nagy, Real-time trajectory generation for omni-directional vehicles by constrained dynamic inversion, Mechatronics, Volume 35, May 2016, Pages 44-53, ISSN 0957-4158, DOI: 10.1016/j.mechatronics.2015.12.004.
This paper presents a computationally efficient algorithm for real-time trajectory generation for omni-directional vehicles. The algorithm uses a dynamic inversion based approach that incorporates vehicle dynamics, actuator saturation and bounded acceleration. The algorithm is compared with other trajectory generation algorithms for omni-directional vehicles. The method yields good quality trajectories and is implementable in real-time. Numerical and hardware tests are presented.