This paper presents a motion planning algorithm for a mobile robot equipped with differential drive and omni-wheels. It describes in detail the algorithm and its tuning parameters as well as a simulation program that models dynamic horizontal movement of the robot. The simulation program selects optimal parameters for the differential drive control algorithm which are further adjusted based on real-life testing of RB-2's movement control software. An approach described in this paper allows to create an efficient motion planning algorithm in a relatively short time while minimizing its testing on a physical robot.

mobile robot, omni-wheels, movement dynamics model, motion planning algorithms, robot RB-2

Theoretical and applied problems of mechanics