Velocity control of omni drive robot using PID controller and dual feedback

Abstract

This paper concentrates on navigation of four wheel omni drive robot system with velocity control. The system has two feedback systems, viz. rotary encoders and laser distance sensors. The following paper assumes that these paths can be defined mathematically in terms of curves like straight line, circle, ellipse or any other mathematically defined curve or as a part of these curves. Two feedback systems enable the robot to navigate the specific path accurately and reliably. This paper explains the velocity equations of the each wheel of the drive required to navigate the path. The laser distance sensor system assists the robot to maintain its trajectory by providing real time position of the robot. The closed loop system of PID controller and rotary encoder provides the required accurate velocity to each wheel which is calculated according to the mathematical equations. As a result the robot moves to the destination point along the specific path with desired velocity.