Two-leveled obstacle avoidance scheme using a kinematically redundant omni-directional mobile robot

This work presents the kinematic modeling and motion planning algorithm for an omni-directional mobile robot with kinematic redundancy. This robot consists of three wheel mechanisms each of which has one redundant joint as compared to the operational degrees. Initially, the kinematic modeling of this robot is conducted. Next, using such a kinematic redundancy of each chain, several motion planning algorithms are suggested. A localization algorithm of the mobile robot based on odometry is presented and specifically, two-leveled obstacle avoidance scheme, which simultaneously considers both large and small obstacles, is presented. The usefulness of the proposed algorithms is verified through simulation.