Practical Approach of Modeling and Parameters Estimation for Omnidirectional Mobile Robots

This paper presents a nonlinear modeling approach for omnidirectional mobile robots. Three experimental methods of estimation of the parameters related to dynamic equations of the robot's model are developed. The estimation methods are based on least-squares methods to obtain the viscous friction coefficients, the coulomb friction coefficients, and the moment of inertia of the robot. Simulation results and real results of navigation are provided to demonstrate the performance of the proposed modeling approach.