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Simultaneous tracking and stabilization of an omnidirectional mobile robot in polar coordinates: a unified control approach

Published online by Cambridge University Press:  01 May 2009

Hsu-Chih Huang  and
Ching-Chih Tsai
Hsu-Chih Huang
Affiliation:
Department of Electrical Engineering, National Chung Hsing University, 250, Kuo-Kuang Road, Taichung 402, Taiwan.
Ching-Chih Tsai*
Affiliation:
Department of Electrical Engineering, National Chung Hsing University, 250, Kuo-Kuang Road, Taichung 402, Taiwan.
*
*Corresponding author. E-mail: cctsai@dragon.nchu.edu.tw
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Summary

This paper presents a polar-space kinematics control method to achieve simultaneous tracking and stabilization for an omnidirectional wheeled mobile robot with three independent driving omnidirectional wheels equally spaced at 120° from one another. The kinematic model of the robot in polar coordinates is presented. With the kinematic model, a kinematic control method based on feedback linearization is proposed in order to achieve simultaneous tracking and stabilization. The proposed method is easily extended to address the path following problem. Computer simulations and experimental results are presented to show the effectiveness and usefulness of the proposed control method at slow speeds.

Keywords

Feedback linearizationKinematic modelMobile robotOmnidirectionalPolar coordinatesRegulationTrajectory tracking
Type
Article
Information
Robotica , Volume 27 , Issue 3 , May 2009 , pp. 447 - 458
Copyright
Copyright © Cambridge University Press 2008

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