Modular Open Hardware Omnidirectional Platform for Mobile Robot Research

Abstract

A robotic platform is essential to validate any algorithm developed for mobile robotics research, as usually simulation results does not reflect all the real world circumstances and error sources. Nowadays there are several available commercial solutions that can be used to validate the developed algorithms, but they are usually expensive and closed to hardware modifications. Another option is to build the robotic platform, but while these solutions are normally open hardware and can be easily modified and maintained, many are assembled using low cost components and are intended only for robot education, and for this reason are not suitable for advanced algorithm implementation nor can employ advanced sensors. A possible solution is presented in this paper, in which an open hardware modular omnidirectional platform is developed, with robust hardware implementation using modular commercially available components, at a lower cost that some more expensive available solutions, but with similar performance and capabilities being suitable for mobile robot research and experimentation.