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Multi-Agent Approach to Analyzing Kinetics of a Multi-Actuated OmniDirectional Mobile Robot for Control System Development

The work presented here proposes a novel strategy for characterizing the kinetics of a single robot as a team of agents working concurrently to satisfy a set of performance objectives. This approach enables the design and application of multi-agent control algorithms across robot subsystems in an effort to create control architectures that are inherently resilient to subsystem failure. A holonomic drive omnidirectional robot is analyzed using the proposed methodology. Each actuator subsystem is treated as an individual agent in a team that contributes to the robot’s coordinated motion. We generalize the approach for various classes of omnidirectional drive vehicles and demonstrate how to characterize the forces and moments associated with each subsystem. Validation is performed to demonstrate that the proposed approach yields robot motion models that are in agreement with those found by conventional rigid-body planar motion analysis.