The paper focuses on the Otbot, an omnidirectional tire-wheeled robot useful in smart warehouses, factories, or hospitals. The robot is capable of navigating through narrow or cluttered areas without having to maneuver. The paper develops a dynamic model of the Otbot, proposes a methodology to identify its parameters, and designs a control law. The control law, using the model, is able to track prescribed trajectories in an accurate and robust manner. This work provides a significant contribution to the field of autonomous mobile platforms and their applications.
Publication date: 21 Nov 2023
Project Page: Not Provided
Paper: https://arxiv.org/pdf/2311.10834
