Motion control study of omnidirectional mobile robot for substation inspection

The inspection path requirements of a four-wheeled omnidirectional robot in substations are met using an initial A* algorithm-generated path and a trajectory optimized with the cubic non-uniform B-spline algorithm. A fuzzy PID controller is used to regulate the robot in real-time dynamically, ensuring the robot's four-wheel drive speed and rotation angle are properly regulated, reducing the robot's motion error. The motion control design proposed in this paper is verified using a joint simulation environment built using Coppeliasim and Matlab, which effectively avoids collisions between the robot and obstacles, optimizing the smoothness of the cornering path