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Dynamics and control of an omniwheel vehicle

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Abstract

A nonholonomic model of the dynamics of an omniwheel vehicle on a plane and a sphere is considered. A derivation of equations is presented and the dynamics of a free system are investigated. An explicit motion control algorithm for the omniwheel vehicle moving along an arbitrary trajectory is obtained.

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Authors and Affiliations

  1. Udmurt State University, ul. Universitetskaya 1, Izhevsk, 426034, Russia

    Alexey V. Borisov, Alexander A. Kilin & Ivan S. Mamaev

  2. Moscow Institute of Physics and Technology, Institutskii per. 9, Dolgoprudnyi, 141700, Russia

    Alexey V. Borisov

  3. Kalashnikov Izhevsk State Technical University, ul. Studencheskaya 7, Izhevsk, 426069, Russia

    Ivan S. Mamaev

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  1. Alexey V. Borisov
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  2. Alexander A. Kilin
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Correspondence to Alexey V. Borisov.

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Borisov, A.V., Kilin, A.A. & Mamaev, I.S. Dynamics and control of an omniwheel vehicle. Regul. Chaot. Dyn. 20, 153–172 (2015). https://doi.org/10.1134/S1560354715020045

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  • DOI: https://doi.org/10.1134/S1560354715020045

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