Dynamic modeling and control of omni-directional mobile robots

Abstract

Omni directional wheeled robots have recently gained increasing attention in the mobile robots applications due to their unique feature. They have higher degree of maneuverability and are widely used in dynamic environment applications due to their holonomic property. Approximation of the parametric uncertainties in system model leads to inaccurate model that leads to improper control design. Problems of control designs for omnidirectional mobile robots with parametric uncertainty are addressed. Anadaptive sliding mode control (SMC) is presented. The commonly adopted adaptive linearizing control fails due to control singularity. The presence of parametric uncertainty directs the designed control input to a very large value. This happens when a term in the calculated control input tends to zero. For solving such a problem, a robust control with smooth transition has been presented. Path planning with static obstacle avoidance is also done. Simulation of path tracking and path planning are carried out.