Modeling and Optimal Motion Planning for the Omnidirectional Mobile Robot with Three Orthogonal Wheels
- Resource Type
- Conference
- Authors
- Almasri, Eyad; Uyguroglu, Mustafa Kemal
- Source
- 2021 3rd International Congress on Human-Computer Interaction, Optimization and Robotic Applications (HORA) Human-Computer Interaction, Optimization and Robotic Applications (HORA), 2021 3rd International Congress on. :1-6 Jun, 2021
- Subject
- Communication, Networking and Broadcast Technologies
Computing and Processing
Engineered Materials, Dielectrics and Plasmas
Engineering Profession
Photonics and Electrooptics
Power, Energy and Industry Applications
Robotics and Control Systems
Signal Processing and Analysis
Heuristic algorithms
Dynamics
Wheels
Planning
Trajectory
Numerical models
Mathematical model
Trajectory planning optimization
holonomic motion
omnidirectional mobile robots (OMRs)
Constrained Dynamic Inversion Based method
Simulated Annealing algorithm
Voronoi diagram
Nenvork Model Approach Method
- Language
Motion planning optimization in the robotics field is the series of actions that are taken to generate the optimal path so that it improves the overall performance of the robot properties or reduces the consumption of the resources where the restriction system remains maintained. In this paper, first, a new compact mathematical model for the three-wheeled omnidirectional robot is derived by using the Network Model Approach (NMA) method developed to analyze the mechanical and electrical systems of the robot. The advantage of this method is without switching from one method to another so that the same method can be used in mechanical and electrical systems. Then, the hybridized algorithm of Constrained Dynamic Inversion Based (CDIB) Method with the Simulated Annealing (SA) Algorithm (CDIB-SA) has been experienced in collision free motion planning by incorporation of the path constraints using the Voronoi diagram. Numerical tests and simulations are presented aiming to ensure the efficiency of the optimal motion planning proposed algorithm.