MATHEMATICAL MODEL AND TRAJECTORY TRACKING CONTROL DESIGN FOR MOBILE ROBOTS USING A DRIVE MECHANISM WITH 3 OMNIDIRECTIONAL WHEELS

Abstract

In this study, we propose a three-omnidirectional-wheel drive mechanism (3OWDM) for an omnidirectional mobile robot. The structure and way of navigating the robot motion of the 3OWDM with the three omnidirectional wheels are presented. A mathematical model is established to describe the robot's motion. A control system is proposed to control the motion of the robot on the floor. Simulation results demonstrate the capabilities of 3OWMD. Some experimental images are also shown to demonstrate the control response of the robot.