Design and traveling experiment of an omnidirectional holonomic mobile robot

There exist three kinds of type, i.e., longitudinal, circumferential and lateral wheels for the class of the orthogonal-wheel assembly mechanisms in omnidirectional and holonomic mobile robots. We first analyze these types in the realization of mechanical structure and control system. We then develop an omnidirectional holonomic mobile robot using the lateral wheel assembly to obtain the much simpler control system. Several experimental results indicated that the mobile robot had a desirable full mobility and smooth motion. In order to realize a feedback control based on the model information, the dynamic model and a resolved acceleration control system are also described. The effectiveness of the control system is demonstrated by a computer simulation.