Abstract
Vehicles equipped with omnidirectional wheels can move in any direction, which means that many driving strategies are available, even for a simple task like turning a corner. However, the characteristics of each driving strategy have not yet been explored to detect what kind of strategy is suitable for what path conditions for what reasons. This study aims to clarify and compare the phenomena that occur in the possible least-time driving strategies for an omni-wheeled vehicle while it turns a corner. Three traveling strategies are proposed according to the order of rotation and turning motion, for which the possible least-time patterns are presented. Simulations are conducted to analyze the advantages of each pattern and compare the three traveling strategies for various path and corner configurations. The results show that the strategy in which the vehicle rotates during or after turning motion costs the least time. When both the path width and corner angle are small, the vehicle should turn with a large radius to maintain a high velocity. In contrast, the vehicle should turn with a small radius when the corner angle is large, even if this requires deceleration.
Highlights
Transportation vehicles are widely used in warehouses and factories to deliver materials or components to a target location
Vehicles equipped with omnidirectional wheels, which can immediately move in an arbitrary direction, including the right, left, or diagonal direction, have the potential to solve the problem of limited mobility [1], [2]
The present study aims to reveal the features of the driving strategies for an omnidirectional wheeled vehicle by comparing the fundamental driving strategies when the vehicle goes through a specified area to offer a reference for finding the most time-efficient motion
Summary
Transportation vehicles are widely used in warehouses and factories to deliver materials or components to a target location. When the free rollers are rotated by an external force, the wheel runs passively in another direction Their combination allows the vehicle with three or more omni wheels to move in an arbitrary direction [6], [7]. Various approaches concerning the motion planning were proposed, such as the dynamic inversionbased scheme for the real-time trajectory generation [17], the global path planning system composed of the odometry, motion controller, and global path planner [18], and the local reactive approach for avoiding the moving obstacles [19] These studies aim to search for the time-optimal trajectory when vehicles with omnidirectional mobility need to avoid obstacles. The features of these motion strategies were analyzed through simulations when the path conditions vary
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