Control and Path Tracking of Omnidirectional Robots

The omnidirectional robots were introduced to overcome the stabilization and path tracking controller design difficulties posed by nonholonomic constraint in the mobile robot dynamic models [1]. However, dynamic model of the omnidirectional robot is holonomic but it is time variant nonlinear dynamic system [2]. Several controllers have been designed for this system to accomplish the stabilization and path tracking objectives [13]. These controllers are computationally complex and are dependent on the parameters. The dependency of the controller on the time variant parameters introduces theoretical and experimental difficulties in the stability analysis and experimental implementation, respectively. In this research, we will focus on the possibility of designing parameter independent stabilization and path tracking controllers. This development will improve the autonomous behavior of the omnidirectional mobile robot.