Modeling and optimal control of omni-directional mobile robots

Abstract

This paper focuses on the motion control and path planning of an omni-directional mobile robot.By analyzing the kinematic and dynamic characteristics of the robot,its motion control model is provided.The model is rationally simplified based on the model equation to reduce the computation cost.The optimal trajectory is generated by using Bang-Bang control.The real-time control effect is realized by combining the trajectory planning and control modeling.Experiment demonstrates the effectiveness of the proposed method.