Design and Control of Swerve Drive Robot Using Kinematic Model

Abstract

Nowadays, wheeled mobile robots is an expanding field of scientific research and growing applications in both industrial and non-industrial fields. They are extensively used in surveillance, industrial automation, and transportation task. This paper describes the design and control of the Swerve drive robot with a kinematic model. In this swerve drive, all four swerve modules are operated independently, which provides greater agility and minimal steering hysteresis over the conventional holonomic drive. In Swerve drive, each swerve module is driven by a gear-train and steered by belt drive with the help of a BLDC motor. Each motor has an in-built hall sensor and acts as a feedback element for the PID controller.