Feedback Control of an Omnidirectional Autonomous Platform for Mobile Service Robots

Keigo Watanabe, Yamato Shiraishi, Spyros G. Tzafestas, Jun Tang, Toshio Fukuda

Research output: Contribution to journalArticlepeer-review

175 Citations (Scopus)


This paper proposes a feedback control scheme for an omnidirectional holonomic autonomous platform, which is equipped with three lateral orthogonal-wheel assemblies. Firstly, the dynamic properties of the platform are studied, and a dynamic model suitable for the application of control is derived. The control scheme constructed is of the resolved-acceleration type, with PI and PD feedback. The control scheme was experimentally applied to an actual mobile robotic platform. The results obtained show that full omnidirectionality can be achieved with decoupled rotational and translational motions. Omnidirectionality is one of the principal requirements for mobile robots designed for health-care and other general-hospital services.

Original languageEnglish
Pages (from-to)315-330
Number of pages16
JournalJournal of Intelligent and Robotic Systems: Theory and Applications
Issue number3-4
Publication statusPublished - Dec 1 1998
Externally publishedYes


  • Holonomic robot
  • Mobile service robot
  • Omnidirectional mobile platform
  • Omnidirectional mobile robot
  • Omnidirectional-robot dynamic model
  • Resolved acceleration feedback control

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Mechanical Engineering
  • Industrial and Manufacturing Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering


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