Optimal Real-Time Tracking and Path Planning System for Omni-directional Mobile Robots

Autonomous mobile robots have attracted growing interest due to their paramount significance in numerous applications including engineering, logistics, research and medical fields. The mobile robots are classified based on the nature of mobility into holonomic as well as nonholonomic. Omnidirectional wheeled mobile robot (OMRs) has concerned superior consideration due to its maneuvering proficiency as it is able to maneuver in any selected path directly from any position. Producing the optimal trajectories for omnidirectional mobile robots so that it enhances the comprehensive performance of physical properties or decreases the consumption of the resources where the constraints system remains preserved among the most important research topics in the field of the holonomic mobile robot. Due to the motion and energy proficiency of the omnidirectional wheeled mobile robots (OWMRs), it utilized to validate and test the efficiency and the competence of new methods functioning in dynamic environment and involving advanced activities such as trajectory planning optimization, moving ball estimation and obstacle avoidance. In this thesis, first, a complete and compact mathematical model for the symmetrical annular-shaped omnidirectional wheeled mobile robot (SAOWMR) including the kinematic and dynamic aspects is derived and certified. This general mathematical model offers an occasion to perform research, experiments, and comparisons on the omnidirectional mobile robots that utilize two, three, four, five, or even more omnidirectional wheels without the necessity to switch models or derive a new model. Then, a new computationally effective method based on the complete model of a SAOWMR with n omnidirectional wheels is developed so that improvements in the trajectory planning optimization (TPO) is achieved. Moreover, the trajectory planning optimization proposed method has been experienced in collision-free navigation by combining the problem of optimal control with the motion planner and the path constraints. Furthermore, in this thesis, ball tracking and estimating of the ball position is accomplished concerning the dynamic environment based on the Multi Sensor Fusion of the Kalman Filter. Additionally, a new method is proposed concerning the moving ball interception relative to the direction of the shoot so that the utilized motion planner based on the Artificial Potential Field method. Experimental tests and simulations are offered pointing to confirm the efficiency and effectiveness of the proposed methods. Moreover, All the experiments in this thesis done based on the use of SAOWMR with three omnidirectional orthogonal wheels since it has full omnidirectional motion proficiency and provides three independent motion directions on a flat surface so that it maneuvers and navigates in tight spaces.