Experimental investigations of a highly maneuverable mobile omniwheel robot

Experimental investigations of a highly maneuverable mobile omniwheel robot

In this article, a dynamical model for controlling an omniwheel mobile robot is presented. The proposed model is used to construct an algorithm for calculating control actions for trajectories characterizing the high maneuverability of the mobile robot. A description is given for a prototype of the...

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Main Authors: A Kilin, P Bozek, Yury Karavaev, A Klekovkin, V Shestakov
Format: Article
Language:English
Published: SAGE Publishing 2017-12-01
Series:International Journal of Advanced Robotic Systems
Online Access:https://doi.org/10.1177/1729881417744570
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spelling doaj-fde6a1ddf15c4814bb04945cf4a2f31c2020-11-25T03:40:52ZengSAGE PublishingInternational Journal of Advanced Robotic Systems1729-88142017-12-011410.1177/1729881417744570Experimental investigations of a highly maneuverable mobile omniwheel robotA Kilin0P Bozek1Yury Karavaev2A Klekovkin3V Shestakov4 Udmurt State University, Izhevsk, Russian Federation Slovak University of Technology, Trnava, Slovakia Kalashnikov Izhevsk State Technical University, Izhevsk, Russian Federation Kalashnikov Izhevsk State Technical University, Izhevsk, Russian Federation Kalashnikov Izhevsk State Technical University, Izhevsk, Russian FederationIn this article, a dynamical model for controlling an omniwheel mobile robot is presented. The proposed model is used to construct an algorithm for calculating control actions for trajectories characterizing the high maneuverability of the mobile robot. A description is given for a prototype of the highly maneuverable robot with four omniwheels, for which an algorithm for setting the coefficients of the PID controller is considered. Experiments on the motion of the robot were conducted at different angles, and the orientation of the platform was preserved. The experimental results are analyzed and statistically assessed.https://doi.org/10.1177/1729881417744570
collection DOAJ
language English
format Article
sources DOAJ
author A Kilin
P Bozek
Yury Karavaev
A Klekovkin
V Shestakov
spellingShingle A Kilin
P Bozek
Yury Karavaev
A Klekovkin
V Shestakov
Experimental investigations of a highly maneuverable mobile omniwheel robot
International Journal of Advanced Robotic Systems
author_facet A Kilin
P Bozek
Yury Karavaev
A Klekovkin
V Shestakov
author_sort A Kilin
title Experimental investigations of a highly maneuverable mobile omniwheel robot
title_short Experimental investigations of a highly maneuverable mobile omniwheel robot
title_full Experimental investigations of a highly maneuverable mobile omniwheel robot
title_fullStr Experimental investigations of a highly maneuverable mobile omniwheel robot
title_full_unstemmed Experimental investigations of a highly maneuverable mobile omniwheel robot
title_sort experimental investigations of a highly maneuverable mobile omniwheel robot
publisher SAGE Publishing
series International Journal of Advanced Robotic Systems
issn 1729-8814
publishDate 2017-12-01
description In this article, a dynamical model for controlling an omniwheel mobile robot is presented. The proposed model is used to construct an algorithm for calculating control actions for trajectories characterizing the high maneuverability of the mobile robot. A description is given for a prototype of the highly maneuverable robot with four omniwheels, for which an algorithm for setting the coefficients of the PID controller is considered. Experiments on the motion of the robot were conducted at different angles, and the orientation of the platform was preserved. The experimental results are analyzed and statistically assessed.
url https://doi.org/10.1177/1729881417744570
work_keys_str_mv AT akilin experimentalinvestigationsofahighlymaneuverablemobileomniwheelrobot
AT pbozek experimentalinvestigationsofahighlymaneuverablemobileomniwheelrobot
AT yurykaravaev experimentalinvestigationsofahighlymaneuverablemobileomniwheelrobot
AT aklekovkin experimentalinvestigationsofahighlymaneuverablemobileomniwheelrobot
AT vshestakov experimentalinvestigationsofahighlymaneuverablemobileomniwheelrobot
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