Advertisement

Motion Analysis and Control of Three-Wheeled Omnidirectional Mobile Robot

  • Nacer HaceneEmail author
  • Boubekeur Mendil
Article
  • 20 Downloads

Abstract

Omnidirectional mobile robots are holonomic vehicles that can perform translational and rotational motions independently and simultaneously. The paper provides a detailed mathematical analysis of the motion of a three-wheeled omnidirectional mobile robot leading to the kinematics of the robot. The motion of the robot can be divided into three types, pure rotation, linear motion and rotation around a point of a nonzero radius. The paper also addresses the problem of trajectory tracking, where the robot has to track the desired trajectory while tracking the desired orientation; to do so; a fuzzy controller has been designed. A comparison made between the proposed controller and another from the literature showed that the fuzzy controller with a minimal number of fuzzy rules (only four rules) is more efficient and more accurate. Furthermore, the paper proposes a simple approach to solve the kinematic saturation problem, namely that the control outputs must be within the range of the admissible control. A simulation platform was carried out using MATLAB to demonstrate the effectiveness of the proposed approach.

Keywords

Three-wheeled omnidirectional mobile robot Autonomous navigation Trajectory tracking Kinematic saturation Fuzzy logic 

References

  1. Aleshin, B. S., Maksimov, V. N., Mikheev, V. V., & Chernomorskii, A. I. (2017). Horizontal stabilization of the two-degree-of-freedom platform of a uniaxial wheeled module tracking a given trajectory over an underlying surface. Journal of Computer and Systems Sciences International, 56(3), 471–482.MathSciNetCrossRefzbMATHGoogle Scholar
  2. Al-Mayyahi, A., Wang, W., & Birch, P. (2016). Design of fractional-order controller for trajectory tracking control of a non-holonomic autonomous ground vehicle. Journal of Control, Automation and Electrical Systems, 27(1), 29–42.CrossRefGoogle Scholar
  3. Aribowo, A., Putra, A. S., Lukas, S., & Tjahyadi, H. (2017). Enhancing soccer robot movement accuracy using omnidirectional wheel. In Proceedings of the IEEE international conference on electrical engineering and informatics (ICELTICs) (pp. 119–123). Banda Aceh, Indonesia: IEEE.Google Scholar
  4. Ashmore, M., & Barnes, N. (2002). Omni-drive robot motion on curved paths: The fastest path between two points is not a straight-line. In B. McKay & J. Slaney (Eds.), AI 2002: Advances in artificial intelligence (pp. 225–236). Berlin: Springer.CrossRefGoogle Scholar
  5. Bae, G. T., Kim, S. W., & Choi, D. (2017). Omni-directional power-assist-modular (PAM) mobile robot for total nursing service system. In Proceedings of the 14th IEEE international conference on ubiquitous robots and ambient intelligence (URAI) (pp. 832–834). Jeju, South Korea.Google Scholar
  6. Barua, R., Mandal, S., & Mandal, S. (2015). Motion analysis of a mobile robot with three omni-directional wheels. International Journal of Innovative Science, Engineering & Technology, 2(11), 644–648.Google Scholar
  7. Bi, Z. M., & Wang, L. (2010). Dynamic control model of a cobot with three omni-wheels. Robotics and Computer-Integrated Manufacturing, 26, 558–563.CrossRefGoogle Scholar
  8. de Lima, D. A., & Pereira, G. A. S. (2013). Navigation of an autonomous car using vector fields and the dynamic window approach. Journal of Control, Automation and Electrical Systems, 24(1–2), 106–116.CrossRefGoogle Scholar
  9. Dong, Y. H. X., Li, J., Mu, S., & Wang, X. (2016). Mecanum wheeled motion system with three wheels. In Proceedings of the 4th international conference on applied robotics for the power industry (CARPI). Jinan, China: IEEE.Google Scholar
  10. Grabowiecki, J. (1919). Vehicle wheel. Patented June 3, 1919. https://www.google.com/patents/US1305535.
  11. Ilon, B. E. (1975). Wheels for a course stable selfpropelling vehicle movable in any desired direction on the ground or some other base. US 3876255 A, Patented April 8, 1975. https://www.google.com/patents/US3876255.
  12. Inoue, Y., Hirama, T., & Wada, M. (2013). Design of omnidirectional mobile robots with ACROBAT wheel mechanisms. In Proceedings of the IEEE/RSJ international conference on intelligent robots and systems (IROS) (pp. 4852–4859). Tokyo, Japan: IEEE.Google Scholar
  13. Kalmár-Nagy, T., D’Andrea, R., & Ganguly, P. (2004). Near optimal dynamic trajectory generation and control of an omnidirectional vehicle. Robotics and Autonomous Systems, 46, 47–64.CrossRefGoogle Scholar
  14. Kundua, A. S., Mazumdera, O., Lenkab, P. K., & Bhaumik, S. (2017). Omnidirectional assistive wheelchair: Design and control with isometric myoelectric based intention classification. Procedia Computer Science, 105, 68–74.CrossRefGoogle Scholar
  15. Ma, S., Ren, C., & Ye, C. (2012). An omnidirectional mobile robot: Concept and analysis. In Proceedings of the IEEE international conference on robotics and biomimetics (pp. 920–925). Guangzhou, China: IEEE.Google Scholar
  16. Mohanraj, A. P., Elango, A., & Reddy, M. C. (2016). Front and back movement analysis of a triangle-structured three-wheeled omnidirectional mobile robot by varying the angles between two selected wheels. The Scientific World Journal.  https://doi.org/10.1155/2016/7612945.Google Scholar
  17. Moreno, J., Clotet, E., Lupiañez, R., Tresanchez, M., Martínez, D., Pallejà, T., et al. (2016). Design, implementation and validation of the three-wheel holonomic motion system of the assistant personal robot (APR). Sensors, 16(10), 1658.CrossRefGoogle Scholar
  18. Mourioux, G., Novales, C., Poisson, G., & Vieyres, P. (2006). Omni-directional robot with spherical orthogonal wheels: Concepts and analyses. In Proceedings of the 2006 IEEE international conference on robotics and automation (pp. 3374–3379). Orlando, Florida, USA: IEEE.Google Scholar
  19. Oliveira, H. P., Sousa, A. J., Moreira, A. P., & Costa, P. J. (2009). Modeling and assessing of omni-directional robots with three and four wheels. In A. D. Rodi (Ed.), Contemporary robotics, challenges and solutions (pp. 207–230). London: IntechOpen.Google Scholar
  20. Pezeshki, S., Ghiasi, A. R., Badamchizadeh, M. A., & Sabahi, K. (2016). Adaptive robust control of autonomous underwater vehicle. Journal of Control, Automation and Electrical Systems, 27(3), 250–262.CrossRefGoogle Scholar
  21. Purwin, O., & D’Andrea, R. (2006). Trajectory generation and control for four wheeled omnidirectional vehicles. Robotics and Autonomous Systems, 54, 13–22.CrossRefGoogle Scholar
  22. Qian, J., Zi, B., Wang, D., Ma, Y., & Zhang, D. (2017). The design and development of an omni-directional mobile robot oriented to an intelligent manufacturing system. Sensors, 17(9), 2073.CrossRefGoogle Scholar
  23. Ramalho, G. M., Carvalho, S. R., Finardi, E. C., & Moreno, U. F. (2018). Trajectory optimization using sequential convex programming with collision avoidance. Journal of Control, Automation and Electrical Systems, 29(3), 318–327.CrossRefGoogle Scholar
  24. Ren, C., & Ma, S. (2015). Generalized proportional integral observer based control of an omnidirectional mobile robot. Mechatronics, 26, 36–44.CrossRefGoogle Scholar
  25. Ribeiro, F., Moutinho, I., Silva, P., Fraga, C., & Pereira, N. (2004). Three omni-directional wheels control on a mobile robot. In Control 2004, University of Bath, UK, September 2004.Google Scholar
  26. Silva, N. B. F., Fontes, J. V. C., Inoue, R. S., & Branco, K. R. L. J. C. (2018). Dynamic inversion and gain-scheduling control for an autonomous aerial vehicle with multiple flight stages. Journal of Control, Automation and Electrical Systems, 29(3), 328–339.CrossRefGoogle Scholar
  27. Taniguchi, T., & Sugeno, M. (2017). Trajectory tracking controller design for a tricycle robot using piecewise multi-linear models. In Proceedings of the international multiconference of engineers and computer scientists IMECS, Hong Kong.Google Scholar
  28. Townsend, C. M. (1958). Ball castors. Patent no. 357524, Switzerland, December 12, 1958. http://www.omnitrack.co.uk/history.html.
  29. Viana, Í. B., Santos, D. A., Góes, L. C. S., & Prado, I. A. A. (2017). Distributed formation flight control of multirotor helicopters. Journal of Control, Automation and Electrical Systems, 28(4), 502–5015.CrossRefGoogle Scholar
  30. Wang, B., Li, S., Guo, J., & Chen, Q. (2018a). Car-like mobile robot path planning in rough terrain using multi-objective particle swarm optimization algorithm. Neurocomputing, 282, 42–51.CrossRefGoogle Scholar
  31. Wang, C., Liu, X., Yang, X., Hu, F., Jiang, A., & Yang, C. (2018b). Trajectory tracking of an omni-directional wheeled mobile robot using a model predictive control strategy. Applied Sciences, 8(2), 231.  https://doi.org/10.3390/app8020231.CrossRefGoogle Scholar
  32. Watanabe, K., & Shiraishi, Y. (1998). Feedback control of an omnidirectional autonomous platform for mobile service robots. Journal of Intelligent and Robotic Systems, 22, 315–330.CrossRefGoogle Scholar
  33. West, M., & Asada, H. (1997). Design of ball wheel mechanisms for omnidirectional vehicles with full mobility and invariant kinematics. Journal of Mechanical Design, 119, 153–161.CrossRefGoogle Scholar
  34. Wu, J., Williams, R. L., II, & Lew, J. (2006). Velocity and acceleration cones for kinematic and dynamic constraints on omni-directional mobile robots. Journal of Dynamic Systems, Measurement, and Control, 128(4), 788–799.CrossRefGoogle Scholar
  35. Ye, C., & Ma, S. (2009). Development of an omnidirectional mobile platform. In Proceedings of the IEEE international conference on mechatronics and automation (pp. 1111–1115). Changchun, China: IEEE.Google Scholar

Copyright information

© Brazilian Society for Automatics--SBA 2019

Authors and Affiliations

  1. 1.Industrial Technologies and Information Laboratory, Department of Electrical Engineering, Faculty of TechnologyUniversité de BejaiaBejaïaAlgeria

Personalised recommendations