Design of controllers for omnidirectional robot based on the ystem identification technique for trajectory tracking

摘要

Abstract Omnidirectional wheeled mobile robots are gaining a lot of importance owing to its widespread applications in healthcare, industries and various other service sectors. Most of these applications demand the mobile base to track the desired trajectory with the desired speed, optimal time and energy consumption. This work focusses on the trajectory tracking of the four-wheeled mobile robot with omnidirectional wheels. Most of the existing works make use of the models developed using first principles but in this work, system modeling is carried out by the system identification technique using the data obtained from the fabricated mobile base. Trajectory tracking is then carried out using PID and Linear Quadratic Tracking (LQT) based controllers. The simulation results are compared for tracking errors and energy consumption and the results obtained in real time are presented.