Feedback Control of an Omnidirectional Autonomous Platform for Mobile Service Robots

Authors:
Keigo Watanabe;Yamato Shiraishi;Spyros G. Tzafestas;Jun Tang;Toshio Fukuda
Affiliations:
Department of Mechanical Engineering, Saga University, 1-Honjomachi, Saga 840, Japan;Department of Mechanical Engineering, Saga University, 1-Honjomachi, Saga 840, Japan;Computer Science Division, National Technical University of Athens, Zografou Campus, 15773 Athens, Greece;Department of Mechanical Engineering, Yamaguchi University, 2557 Tokiwadai, Ube 755, Japan;Department of Micro Systems Engineering, Nagoya University, Furo-cho, Chikusa-ku, Nagoya 464, Japan
Venue:
Journal of Intelligent and Robotic Systems
Year:
1998

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Abstract

This paper proposes a feedback control scheme for an omnidirectionalholonomic autonomous platform, which is equipped with three lateralorthogonal-wheel assemblies. Firstly, the dynamic properties of the platformare studied, and a dynamic model suitable for the application of control isderived. The control scheme constructed is of the resolved-accelerationtype, with PI and PD feedback. The control scheme was experimentally appliedto an actual mobile robotic platform. The results obtained show that fullomnidirectionality can be achieved with decoupled rotational andtranslational motions. Omnidirectionality is one of the principalrequirements for mobile robots designed for health-care and othergeneral-hospital services.