An Exponential Decreased Kinematic and PID Low Level Control Schemes for an Omni-Wheeled Mobile Robot

摘要

This paper presents a kinematic control algorithm development for a four-omni-wheeled robot such that the robot pose’s error decreases exponentially. A PID control scheme was used to regulate the angular speed of DC motors. Simulation experiments have been carried out to verify the mobile robot motion and the proposed control performances. This simulation would give a good initial robot and control design before realizing a real time robot controller. The results obtained through the simulation program elucidate that the robot is able to reach the specified static target and direction towards the robot in less than 6 seconds with the value of every RMSE below 0.01. These results also reveal that the proposed PID control can be utilized to make the robot moves smoothly as planned. The graphical form is employed to present the results of response, trajectory, and the changes in error values.