Fault tolerant control on omnidirectional soccer robot with motor failure

To deal with the sudden motor failure during the match, the method of fault tolerant control on omnidirectional soccer robot will be introduced in this article. First of all, the kinematics model of two-wheeled differential driving robot and omnidirectional robot will be given. Then kinematics model of omnidirectional robot with a motor failure will be introduced, based on which the fault tolerant control algorithm is designed. This algorithm has been realized in the soccer robots and proved to be effective.