Control of an omnidirectional mobile robot

Abstract

Holonomic or nonholonomic omnidirectional mobile robots are known to be constructed by applying a specialized wheel or mobile mechanism. In particular, some representative control approaches are described for a holonomic and omnidirectional mobile robot with three lateral orthogonal-wheel assemblies. The uses of resolved acceleration control method, PID method, fuzzy model method, and stochastic fuzzy servo method are highlighted.