Conventional path tracking methods designed for two-wheeled differential drive robots are not suitable for omni-directional robots. In this study, we present a controller which can accomplish more accurate path tracking and orientation correction by exploiting the unconstrained movement capability of omni-directional robots. The proposed controller is proven to be stable using a Lyapunov stability criterion. Various experiments in real environments show that performance of path tracking and orientation correction has improved in the proposed controller.

• 최한수(Mechatronics, Korea University) | Choi Han-Soo
• 김동일(Mechanical Engineering, Korea University) | Kim Dong-Il
• 송재복(Mechanical Engineering, Korea University) | Song Jae-Bok Corresponding author