A study on the mechanism and control of omni-directional vehicle
Y. Mori, E. Nakano, Timothy T. Takahashi, K. Takayama · 2002
In this paper, the mechanism, the kinematics, the control, and the experimental results of a newly designed nonholonomic omni-directional vehicle "ODV9" are discussed. ODV9 has four wheel modules, with each wheel module incorporating a motor, brake, and a wheel. Compared with other ODVs, the advantages of ODV9 are not limited to the simplicity of its mechanism. Benefiting from using a normal type wheel equipped with a tire, ODV9 is capable of moving in various environments. The proposed controller for ODV9 is designed using digital optimal control theory. The experimental results show that ODV9 can be practically utilized for various mobile platforms.