Control system implementation and analysis for omniwheel vehicle

Abstract

In this paper, we implement an embedded control system to a four-wheel omniwheel vehicle. PID control is used to stabilize the velocity of each wheel so the vehicle can move steadily. Color markers are used as navigation waypoints and to correct any deviation on the vehicle movement. The implemented system is capable to reduce the vehicle's movement deviation when move straight from one marker to another marker. The color markers can be used with various distance from each other.