Dynamic Analysis and Steering Control of a Novel Unicycle Robot with Active Omnidirectional Wheel

Orientation control for a robot is important as the space it can execute a task or perceive an environment can drastically change with a change in orientation. This work assesses the feasibility of orientation control for a novel unicycle omnidirectional robot using gyroscopic precession. Dynamic analysis of the platform is done and a cascaded multi-loop control is designed to track a given yaw rate. Design inherent artifacts for the given type of mobile robot is discovered and a method to mitigate it is also proposed.