A practical approach to motion generation and control for an omnidirectional mobile robot

Abstract

Path generation execution and motion control for an omnidirectional mobile robot (vehicle) are considered. Real-time path generation is based on the polynomial spline-interpolation with prediction of velocities of a spline-function. The mobile vehicle control is performed with the use of its kinematic model and digital PID-controllers of the wheels. The theoretical approach is illustrated by the obtained experimental results.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>