Autonomous Control for an Omnidirectional Mobile Robot with Feedback Control System

  • Keigo Watanabe
  • Yamato Shiraishi
  • Jun Tang
  • Toshio Fukuda
  • Spyros G. Tzafestas
Part of the International Series on Microprocessor-Based and Intelligent Systems Engineering book series (ISCA, volume 18)


Recently, an industrial mobile robot has been required to have some abilities that it can freely travels within a confused factory and achieve an accurate positioning in a work station. For this purpose, an active investigation is now focused on the study of omnidirectional mobile robots, instead of a conventional mobile robot with two independent driving wheels, or with the front-wheel handling and rear-wheel driving. The omnidirectional mobile robot has been studied by using a variety of mechanisms. In particular, a holonomic vehicle has a full omnidirectionality with simultaneous and independently controlled rotational and translational motion capabilities. Several omnidirectional platforms have been known to be realized by driving wheel with steering (or offset driving wheel) [1], [2], [3], universal wheels [4], [5], spherical tires [6], or crawler mechanisms [7], [8].


Mobile Robot Circular Path Move Coordinate System Wheel Mobile Robot Character Path 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.


Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.


  1. 1.
    Nakano, E. and Koyachi, N.: An Advanced Mechanism of the Omni-Directional Vehicle (ODV) and Its Application to the Working Wheelchair for the Disabled, Proc. of ′83 Int. Conf. Advanced Robotics (1983), 277–284.Google Scholar
  2. 2.
    Nakano, E., Mori, Y., and Takahashi, T.: Study of the Mechanism and Control of Omni-Directional Vehicle, Proc. of the 12th Annual Conference of RSJ 1 (1994), 369–379. (in Japanese).Google Scholar
  3. 3.
    Wada, M., Tominaga, Y., and Mori, S.: Design of an Omnidirectional Holonomic Vehicle, Proc. of the 13th Annual Conference of RSJ 1 (1995), 145–146. (in Japanese).Google Scholar
  4. 4.
    Muir, P.F. and Neuman, C.P.: Kinematic Modeling of Wheeled Mobile Robots, J. Robotic Systems 4 (1987), 281–340.CrossRefGoogle Scholar
  5. 5.
    Asama, H., Bogoni, L., Sato, M., Kaetsu, H., and Endo, I.: Kinematics of and Omni-Directional Mobile Robot with 3DOF Decoupling Drive Mechanism, Proc. of the 12th Annual Conference of RSJ 1 (1994), 367–368. (in Japanese).Google Scholar
  6. 6.
    Nishikawa, A., West, M., and Asada, H.: Development of a Holonomic Omnidirectional Vehicle and an Accurate Guidance Method of the Vehicles, J. of the Robotics Society of Japan 13-2 (1995), 249–256. (in Japanese).CrossRefGoogle Scholar
  7. 7.
    Hirose, S. and Amano, S.: The VUTON: High Payload, High Efficiency Holonomic Omni-Directional Vehicle, Proc. of JSME Annual Conference on Robotics and Mechatronics (1993), 350–355. (in Japanese).Google Scholar
  8. 8.
    Hirano, T., Chen, P., and Toyota, T.: A Fundamental Study on Omni-Directional-Vehicle (1) — Omni-Directional Running Mechanism for Offroad — Proc. of the 14th SICE Kyushu Branch Annual Conference (1995), 273–274. (in Japanese).Google Scholar
  9. 9.
    Pin, F.G. and Killough, S.M.: A New Family of Omnidirectional and Holonomic Wheeled Platforms for Mobile Robots, IEEE Transactions on Robotics and Automation 10-4 (1994), 480–489.CrossRefGoogle Scholar
  10. 10.
    Iwatsuki, M. Nakano, K., and Ohuchi, T.: Target Point Tracking Control of Robot Vehicle by Fuzzy Reasoning, Trans. of the Society of Instrument and Control Engineers (SICE) 27-1 (1991), 70–76. (in Japanese)Google Scholar
  11. 11.
    Saito, M. and Tsumura, T.: Collision Avoidance Among Multiple Mobile Robots — A Local Approach Based on Non-linear Programming — Trans. of the Institute of Systems, Control and Information Engineers 3-8 (1990), 252–260. (in Japanese).CrossRefGoogle Scholar
  12. 12.
    Tang, J., Nomiyama, A., Watanabe, K., and Yubazaki, N.: Stochastic Fuzzy Control for an Autonomous Mobile Robot, Proc. of 1996 IEEE Int. Conf. on Systems, Man and Cybernetics, Beijing, China, 1 (1996), 316–321.Google Scholar
  13. 13.
    Tang, J., Watanabe, K., and Shiraishi, Y: Design of Traveling Experiment of an Omnidirectional Holonomic Mobile Robot, Proc. of 1996 IEEE/RSJ Int. Conf. on Intelligent Robotics and Systems (IROS96), Osaka, Japan, 1 (1996), 66–73.CrossRefGoogle Scholar

Copyright information

© Springer Science+Business Media Dordrecht 1999

Authors and Affiliations

  • Keigo Watanabe
    • 1
  • Yamato Shiraishi
    • 1
  • Jun Tang
    • 2
  • Toshio Fukuda
    • 3
  • Spyros G. Tzafestas
    • 4
  1. 1.Department of Mechanical EngineeringSaga UniversitySagaJapan
  2. 2.Department of Mechanical EngineeringYamaguchi UniversityUbeJapan
  3. 3.Department of Micro Systems EngineeringNagoya UniversityNagoyaJapan
  4. 4.Computer Science DivisionNational Technical University of AthensAthensGreece

Personalised recommendations