A Pose Control Algorithm for Omnidirectional Robots

Abstract

The pose control (position and orientation) of a robot is important to control how and when the robot gets to the desired pose at the desired time in order to perform some task. Controlling omnidirectional robots is of great interest due to their complete maneuverability. So, we use Proportional-Integrative (PI), Proportional-Derivative (PD), and Feed-Forward (FF) controllers to control the pose of an omnidirectional robot in space and in time. The proposed controller approximates the future trajectory (a subset of points) on parametric polynomials for computing the derivatives needed in the FF. In the simulations performed, it was analyzed the size of the future trajectory horizon for the controller depending on the robot's velocity, and the proposed controller was compared to PD-only and a generic GoToXY controller. The results demonstrated that the proposed controller achieves better results than the other two both in space and in time.