A Dynamic Model of Omnidirectional Mobile Robot Considering Slip Angle

摘要

The driving mode of the wheeled mobile robot and the cornering phenomenon of the elastic tire under the action of the cornering force are analyzed in this paper. A dynamic model of the omnidirectional mobile robot based on the sideslip angle is proposed. The analysis of the model is conducted by Webots which is a free and open-source 3D robot simulator widely used in industry, education, and research. In the simulation, the running situation of an omnidirectional mobile robot considering the slip angle model with different running speeds is used to verify the proposed model. The results show that this model effectively improves the steering reliability and stability of the omnidirectional mobile robot within its reliable operating speed range.