Digital Twin-Based Motion Planning and Virtual-Physical Mapping Control for an OMR Through Narrow Corners

In this paper, a digital twin system is presented to enable static motion planning, reliable digital simulation and dynamic state monitoring for an omnidirectional mobile robot (OMR) through narrow corners. A virtual robot is constructed to realize precise collision detection and real-time motion visualization for the OMR which is taken for a physical robot. A precise configuration space is obtained based on the virtual robot in a virtual environment which is used to map the real environment. A six-neighborhood three-dimensional A^* algorithm is designed to find the optimal path from an initial configuration to a target configuration. A virtual-physical mapping control strategy is designed to realize trajectory tracking and dynamic monitoring of the physical robot and the virtual robot. Experimental results show effectiveness of the proposed motion planning and virtual-physical mapping control for the OMR through narrow corners.