关键词：光机电；机器人；运动学；动力学；临时道路
摘 要：The four-wheel differential omni-directional mobile robot has shown a strong research value and application prospect.This paper explored the kinematics and dynamics model of the omni-directional mobile robot by former differential and rear differential features,with a particular focus on its path planning strategy.The design includes path planning reference point,whilst analysis was made on the temporary path design strategy for linear and circular two features,with the resulting temporary path being optimal and most valid.This paper concludes with the research results that are available for providing the necessary preliminary studies and theoretical basis for the control of the mobile robot of this type.