In recent years, autonomous mobile platforms are finding an increasing range of applications in inspection or surveillance tasks, or to the transport of objects, in places such as smart warehouses, factories or hospitals. In these environments it is useful for the robot to have omnidirectional capability in the plane, so it can navigate through narrow or cluttered areas, or make position and orientation changes without having to maneuver. While this capability is usually achieved with directional sliding wheels, this work studies a particular robot that achieves omnidirectionality using conventional wheels, which are easier to manufacture and maintain, and support larger loads in general. This robot, which we call ``Otbot'' (for omnidirectional tire-wheeled robot), was already conceived in the late 1990s, but all the controllers that have been proposed for it are based on purely kinematic models so far. These controllers may be sufficient if the robot is light, or if its motors are powerful, but on platforms that have to carry large loads, or that have more limited motors, it is necessary to resort to control laws based on dynamic models if the full acceleration capacities are to be exploited. This work develops a dynamic model of Otbot, proposes a plausible methodology to identify its parameters, and designs a control law that, using this model, is able to track prescribed trajectories in an accurate and robust manner.

翻译：近年来，自主移动平台在智能仓库、工厂或医院等场所的巡检、监控任务或物体运输中应用日益广泛。在此类环境中，机器人需具备平面全向移动能力，以便在狭窄或杂乱区域穿行，或在无需机动操作的情况下完成位姿调整。虽然这种能力通常通过定向滑动轮实现，但本文研究了一种采用常规轮胎实现全向性的特殊机器人——这类轮胎更易制造和维护，并能承载更大载荷。该机器人被命名为"Otbot"（全向轮胎机器人），早在20世纪90年代末便已提出概念，但迄今为止所有针对其设计的控制器均基于纯运动学模型。对于轻量型或电机功率充沛的机器人平台而言，此类控制器尚可满足需求；但对于需承载重物或电机性能受限的平台，若要充分发挥加速度潜力，则必须采用基于动力学模型的控制律。本文建立了Otbot的动力学模型，提出了一套可行的参数辨识方法，并设计了基于该模型的控制律，能够精确鲁棒地跟踪预设轨迹。