Driving Control by Based upon the Slip Pattern of the Ball Robot

摘要

This paper proposes a driving course plans using the slip patterns of an Mecanum wheel Ball Robot. Slip of Mecanum wheel Ball Robot causes uncertainty on the driving. This solution is necessary in order to reduce the uncertainty of the robot. Analyzing the slip pattern according on the driving angle change of the robot, which was shown in the graph for slip pattern. On the basis of a formal slip pattern can establish the moving performance of the Mecanum wheel Ball Robot and the optimal path planning. Using a self-produced robots, the experiment on the optimal path planning using a slip pattern and the performance was evaluated.