Development of an omniwheel-based holonomic robot platform for rough terrain

Abstract

In this paper, we present an ongoing effort to develop a robust omnidirectional robotic platform for outdoor operation on non-smooth surfaces. The design of an off-road, low-cost omniwheel is presented along with a suspension system that will allow the platform to traverse rough terrain. We also provide a control architecture based on the open-source Robotic Operating System (ROS).