Motion estimation of an omnidirectional mobile robot

The motion\´s generation consists in finding an analytic expression of a motion according to time. A "Map road" type planner or "Cell decomposition" provide to the motion generator some possible free crossing points of collision. The global trajectory\´s interpolation by a polynomial is generally not possible, because the degree of the polynomial increases with the number of crossing points which can generate vibrations or loops of the trajectory. The solution consists in using polynomials in an inferior degree and to build the motion in pieces. The theoretical developments concern the motion\´s generation, the modeling of the vehicle, then the management of its redundancy steam-power. All these methods contribute to improve the robot precision (accuracy). We are presenting the motion\´s generator which constructs into lines a continuous trajectory C₂ while enabling the transformation of the crossing points into lines. The generator presented here as part of omnidirectional robot is adaptable to any kind of vehicle.