Modeling and Optimal Motion Planning for the Omnidirectional Mobile Robot with Three Orthogonal Wheels

Abstract

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. © 2021 IEEE.