Design, modeling and trajectory generation of a kind of four wheeled omni-directional vehicle

In this paper a design of four wheeled omni-directional vehicle is presented and its kinematic and dynamic model is developed. The motion equation of this system is non-linear and hard to deal with in applications where fast trajectory generation is needed with modest computation resource. Therefore a special design that the vehicle´s motion equation can be simplified is proposed. With a set of constraints being satisfied, the system is greatly simplified and a near time-optimal bang-bang trajectory can be calculated with great computational efficiency.