Mechatronic Design and Path planning optimization for an Omni wheeled mobile robot for indoor applications

Abstract

Omni-wheeled mobile robots (OWMRs) are commonly used in indoor navigation applications like surveillance, search and rescue, and autonomous transportation. They are characterized by their versatility, mobility, and high payload. This paper presents the mechatronic design, kinematics, and low-level control of an indoor Omni wheeled mobile robot. The robot mechatronic system is presented, showing the selection of wheels, actuators, and the technical specifications of the robot. The robot kinematics are calculated and discussed to pave the way for controlling the robot movement. The control system of the robot is presented while showing the main hardware components and the low-level velocity control of the robot’s main motors. The robot is manufactured and tested, showing the validity of its mechanical and velocity control systems. A path planning algorithm is implemented experimentally and its generated path is optimized using genetic algorithm technique. Both of the generated paths are compared, showing the validity of the optimization process.