Design and Development of an Omnidirectional Mobile Robot

Abstract:

Most mobile robots use differential-drive concept, where they are equipped with two actuators that permit only single-direction rotation at a time. This concept limits the robots navigation because its orientation must always change according to the direction of movement. This paper presents the development of an omnidirectional mobile robot that uses three actuators, aligned in 120 degrees separation and each attached to an omniwheel. By manipulating actuator speed, the robot can navigate to any direction without changing its orientation. Using NIsbRIO9632xt as the main controller, navigation algorithm is implemented in LabVIEW, integrated with PID controller to fine-tune robot movements.

• Periodical: Applied Mechanics and Materials (Volume 432)
• Pages: 494-499
• DOI: https://doi.org/10.4028/www.scientific.net/AMM.432.494
• Online since: September 2013
• Authors: Tey Wei Kang, Lim Thol Yong, Yeong Che Fai, Eileen Su Lee Ming
• Keywords: Gyroscope, Mobile Robot, Omnidirectional, Path Planning, Path Tracking, PID Closed Loop Controller, Rotary Encoder

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