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Abstract
The subject of the article is the process of a mobile platform with omnidirectional wheels moving. The purpose is computer modeling, which describes the possible directions of a mobile platform with omnidirectional wheels’ movement. The task: to perform computer modeling of the holonomic movement of the three-wheel platform in the Matlab Simulink. The methods used are: system analysis, numerical methods, mathematical and computer modeling methods. The following results are obtained. Possible options for the mobile platform moving in limited space conditions are suggested, in the obstacles presence. Computer simulations describing the holonomic movement of a mobile platform with omni-directional wheels and in the Matlab Simulink environment were performed. Conclusions. The proposed model allows to investigate the holonomic movement of a three-wheeled mobile platform with omnidirectional wheels. Analysis of the obtained results shows the instability of the change in linear velocities along the x and y axes. The nature of the change in the angular velocity and the angle of rotation of the platform is directly proportional to the distance between the center of the platform and the center of the wheel, and the linear velocity depends on the mass of the platform. The obtained results can be used for further studies of the controlling the holonomic movement process of a mobile platform with omni-directional wheels in limited space conditions, in the obstacles presence, and modeling the processes associated with its movement.
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