Modelling, Design and Control of a Four wheel Holonomic Drive

EasyChair Preprint 2075

Abstract

This paper tries to model a four wheel holonomic drive and it describes the design of the drive system. After deriving the kinematic model, the encoder and the gyroscope equations are used for position and orientation feedbacks respectively. This drive is designed using various selection criterion for microcontroller, motors, motor drivers and sensors. Furthermore, it is controlled using deduced reckoning algorithm and a continuously running PID is applied to keep the errors in check. Also, the ideal velocity vs time curve is discussed in the paper to achieve the desired outcome in minimum possible time.

Keyphrases: Deduced Reckoning, Gyroscope, Holonomic Drive, PID controller, Rotary Encoders, Velocity Planning, kinematic model

@booklet{EasyChair:2075,
  author    = {Paras Savnani and Harshvardhan Sisodia and Divyanshu Tak and Akash Mecwan},
  title     = {Modelling, Design and Control of a Four wheel Holonomic Drive},
  howpublished = {EasyChair Preprint 2075},
  year      = {EasyChair, 2019}}