Developing a mathematical model for transport vehicle with three omnidirectional wheels

Mathematics. Physics. Mechanics


Nguyen N. M.




This paper suggests a more generic mathematical model of vehicle with omnidirectional wheels, which describes not only the plane motion when the platform and all wheels are considered as a rigid body, but also the platform’s spatial motion. Only using this motion allows us to analysis the characteristics of the equipped on platform inertial measurement unit (IMU) in purpose to create a criterion for choosing parameters of embedded sensors according to the precision of control algorithm. We also create a program, using some control rules, including PID regulator and optimal control algorithm, for simulating the vehicle motion.


mathematical model, vehicle with omnidirectional wheels, spatial motion, simulation.

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