Motion Control of Four Wheeled Omni-drive Mobile Robot

Recently, there has been a growing emphasis on omnidirectional mobile robots. The key focus of this research is to ensure their reliable performance. This strategy integrates both velocity and torque controller originally developed for a mobile manipulator and adapts them to suit the unique dynamics of the omni-drive platform. The controller is robust to system dynamics and uncertainties and thereby provides guaranteed performance in diverse environments. Based on a detailed set of simulations, the study demonstrates that accurate trajectory tracking with minimum position and orientation errors can be achieved using the proposed controller. The results validate the efficacy of the proposed control methodology in optimizing the motion control performance of mobile robots.