Research and development of mecanum-wheeled omnidirectional mobile robot implemented by multiple control methods

摘要

A mecanum-wheeled robot is a kind of popular and representative omnidirectional mobile robot, which can move in all directions on the work plane, e.g. forth and back, sideway and spin. In this paper, a kinematics model of a mecanum-wheeled robot is analyzed and discussed. Based on the model, two omnidirectional mobile robots are designed and developed. Because robots implemented by multiple control methods have more flexible and adaptable in different occasions, three control methods: speech recognition, Bluetooth and infrared remote control are applied to the two robots. Then, motion of the two robots controlled by three modes are compared and concluded.