Research on Simulation of Motion Compensation for 8×8 Omnidirectional Platform Based on Back Propagation Network

Abstract

In order to reduce the influence of slippage and improve the accuracy of 8×8 omnidirectional platform motion, this paper analyses the kinematic characteristic and builds the dynamic virtual model. A method of Back Propagation(BP) network is used to nonlinear motion compensation. Comparing simulation results before with after compensation, the data show that motion errors can be reduced, which indicates that the method is effective.

Path Planning of a Mobile Delivery Robot Operating in a Multi-Story Building Based on a Predefined Navigation Tree

“…In future works, the APR-02 mobile robot will be used as multi-story autonomous delivery robot. The use of an omnidirectional mobile robot to transport and deliver packages is advantageous in that it can move in any direction and rotate without performing any maneuver [105][106][107][108], a motion that cannot be replicated with differential drive mobile robots [109][110][111]. The APR-02 mobile robot is able to execute any instantaneous motion 𝑀 = (𝑣 , 𝛼 , 𝜔 ) defined in the robot frame (𝑋 , 𝑌 ), where 𝑣 is the module of the target lineal velocity of the robot, 𝛼 is the angle of the lineal velocity relative to 𝑋 and 𝜔 is the target angular velocity of the robot.…”

Phasor-Like Interpretation of the Angular Velocity of the Wheels of Omnidirectional Mobile Robots

“…The most frequent ones are based on symmetric designs [23,25] using three omni wheels [26,27] or using four mecanum wheels [24,28,29]. Alternative proposals include asymmetric wheel distributions [23,30] and platforms with six [31][32][33] or eight wheels [34]. There are also other promising omnidirectional motion systems such as that used to create a statically stable ball robot in which the robot structure is built and balanced on the top of a ball [35], and spherical robots, which are mainly composed of a ball-shaped shell with the internal robot structure based on a pendulum [36,37].…”

“…Gao et al [22] presented a floor-cleaning robot with a motion system using four mecanum wheels specially designed for crowded public applications. Tian et al [34] introduced a method for motion compensation in order to improve the motion accuracy of an omnidirectional mobile robot using eight mecanum wheels. This approach was proposed in order to develop a big transportation platform with a larger wheel surface area in contact with the ground.…”