Design and Control of an Omnibot Autonomous Vehicle

Abstract

A design for autonomous control of a novel omni-directional platform is presented. This platform is to be used in conjunction with a robotic arm to further research of mobile-manipulator systems. This design differs from other omni-directional platforms that use omniwheels in that its drive axes do not intersect its geometric centre. The platform can be controlled autonomously through multiple sub-systems that have been designed including a closed-loop velocity controller, a localization system, an obstacle avoidance and collision detection system, a vision system, and a data routing system. These sub-systems communicate with a remote computer which plots the path and sends data to guide the platform. The closed-loop velocity controller provides feedback which can be used to analyze and correct the path of travel.