A control approach to an omnidirectional mobile robot

摘要

According to our omnidirectional-wheeled mobile robot this paper presents the kinematic model of this kind of omnidirectional mobile robot and analyses the influences of model uncertainty on the control results by the notion of matrix condition number. Making use of the robot omnidirectional locomotion, a control approach is proposed to solve the problems of stable trajectory tracking with the constant robot orientation and the problem of posture tracking when the robot orientation varies according to some specifications. The simulations and experiments are reported to validate the control approach.