Introduction of Mecanum-wheels Based Omni-directional Mobile Robots with Applications

Abstract

Omni-directional mobile robots can move in all directions,e. g. back and forth,sideway and spin. Due to their simple structures,good control performances and passing through abilities,Mecanum-wheels based omni-directional mobile robots attract extensive attention worldwide in industries in recent years. The principle of omni-directional moving abilities of the mobile robots,the designing and manufacturing methods of Mecanum wheels,and the motion control and path following as well as path planning theories of Mecanum-wheels based mobile robots are all briefly introduced in this paper. Finally,varies military and civil applications are demonstrated also in this review.