Path Planning and Controlling of Omni-Directional Robot Using Cartesian Odometry and PID Algorithm

摘要

Omni direction is the concept of existence of motion in every direction. Here, we have controlled the resulting vectors of individual wheels of a three wheel omni robot that are ultimately responsible for a stabilized motion of the robot in any direction. This phenomenon is termed as ’Holonomic Drive’ and it provides higher efficiency and controllability to non-holonomic drives, when used with odometry and PID algorithms. Odometry basically is method of acquiring the real time positional data of a system in a world frame and using it for path planning. PID algorithm when applied on any system reduces the transient response and helps to attend steady state conditions with less settling time. Here, we have successfully designed and implemented the algorithms for path planning with the help of quadrature encoders and heading control of three wheel omni robot using PID, implemented on IMU(Inertial Measurement Unit).