Trajectory Tracking of Swing-Arm Type Omnidirectional Mobile Robot

Figure 12

Response results of system states in condition 1 simulation test. (a) Lateral error. (b) Longitudinal error. (c) 4WS mode. (d) Oblique motion mode. (e) Yaw angle of different modes.

(a)

(b)

(c)

(d)

(e)