Motion planning algorithms of an omni-directional mobile robot with active caster wheels

Abstract

This work deals with motion planning algorithms of an omni-directional mobile robot with active caster wheels. A typical problem occurred in the motion control of such omni-directional mobile robot, which has been identified through experimental experiences, is skidding of the mobile wheel. It sometimes results in uncertain rotation of the steering wheel. To cope with this problem, a motion planning algorithm which resolves the skidding problem and uncertain motions of the steering wheel is mainly investigated. For navigation of the mobile robot, the posture of the omni-directional mobile robot is initially calculated using the odometry information. Then, the accuracy of the mobile robot's odometry is measured through comparison of the odometry information and the external sensor measurement. Finally, for successful navigation of the mobile robot, a motion planning algorithm that employs kinematic redundancy resolution method is proposed. Through simulations and experimentation, the feasibility of proposed algorithms was verified.