Modeling and Trajectory Planning Optimization for the Symmetrical Multiwheeled Omnidirectional Mobile Robot

Trajectory optimization is the series of actions that are taken into consideration in order to produce best path such it improves overall performances physical properties or reduces consumption resources where restriction system remains maintained. In this paper, first, a compact mathematical model for symmetrical annular-shaped omnidirectional wheeled mobile robot (SAOWMR) derived and verified. This general provides an opportunity conduct research, experiments, comparisons on these robots have two, three, four, six, even more wheels without need switch models derive new model. Then, computationally efficient method proposed achieve improvements trajectory planning (TPO) SAOWMR. Moreover, has been tested collision-free navigation by incorporation constraints. Numerical tests simulations presented aiming ensure efficiency effectiveness method.