Simultaneous tracking and stabilization of an omnidirectional mobile robot in polar coordinates

Abstract

This paper presents polar‐space kinematic and dynamic control methods to achieve both trajectory tracking and stabilization for an omnidirectional wheeled mobile robot with three independent, omnidirectional, driving wheels equally spaced at 120 degrees from one another. Both kinematic and dynamic models of the robot in polar coordinates are presented. A kinematic control method is proposed based on feedback linearization and the kinematic model, whereas a dynamic controller is synthesized using backstepping and the dynamic model. Experimental results are presented to show the efficacy and usefulness of the proposed control methods.