A Mobile Robot with Modified Mecanum Wheels

Abstract

Mobile robots applications are demanding them to move in tight areas, to avoid obstacles, finding their way to the next location. In the case of wheeled robots, these abilities mainly depend on the wheels design. A mobile robot with omni-directional capabilities is very attractive because it guarantees a very good mobility in such cases, being able to move instantaneously in any direction from any configuration. These capabilities mainly depend on the wheels design. This paper provides some information about the mechanical design of an omni-directional mobile robot with modified Mecanum wheel, as well as about its control.