Modelling and control of a six-wheeled autonomous robot

We present a vehicle-level control algorithm for a unique "omnidirectional" robot. The vehicle has six "smart wheels", each of which can be independently controlled to a prescribed drive speed and steering angle. Starting from Newtonian mechanics, a dynamic model of this vehicle is derived. Using this model it is possible to develop an exact feedback linearization controller for the vehicle. Simulations and experimental results confirm the validity of the analysis and controller design.