Research on traction force allocation for omni-directional mobile robots

Eccentric centroid is one of the most serious problems of omni-directional mobile robot design. The reason is the limited precision in producing causes. Nowadays, most control approaches are studied basing on ideal models with regular centroid. Thus extra energy is needed to adjust difference between ideal centroid and actual centroid. In this paper, we propose an approach with eccentric centroid to analyze the distribution of traction on each wheel in this condition and get an optimization solution set of this traction with linear programming algorithm. We conducted simulation experiments to demonstrate the algorithm is of positive effect in reducing cost of extra energy.