Operation System and Control of an Omnidirectional Car-like Mobile Base

我们已经研究了如何控制配备有标准操作装置（诸如用于驱动车辆的方向盘和油门/刹车踏板）的全向车辆。传统的全向车辆需要在3自由度、x、y和z方向上的运动指令，而标准的操作设备可以给车辆提供2自由度的运动指令。为了验证该系统的有效性，我们设计并搭建了一个带有主动脚轮的个人全方位移动的平台。基于车辆动力学模型，对原型车进行了包括车轮滑移在内的动力学行为试验。

We have studied how to control an omnidirectional vehicle equipped with standard operation devices such as a steering wheel and gas/break pedals for driving the vehicle. Conventional omnidirectional vehicles need motion commands in 3DOF, x, y, and an orientation z, however standard operation devices can give 2DOF motion commands to the vehicle.We have proposed a motion control method for omnidirectional vehicles which based on calculations of a dynamic model of the vehicle with wheel slips, such as "car drift". The dynamic behaviors including side slips of the wheel can be realized by the omnidirectional mechanism.To verify the availability of the proposed system, we have designed and built a personal omnidirectional mobile platform with active-casters. The prototype vehicle performed dynamic behaviors including wheel slips based on the vehicle dynamic model.