Multi-purpose Mobile Robot Platform Development

Abstract

Abstract. This paper deals with the design of a four wheel drive mobile robot platform. It describes complex design process including the chassis, hardware, control and power electronics, low level software and communication with highlevel control. Robot is intended to be used for testing of various control algorithms including DC motor position, speed, momentum; traction control; and further for the higher level algorithms such as: obstacle detection and avoidance and path planning. Robot can be used for research and development, and also it presents great educational platform for mechatronic engineering. Main asset for education is the complex design including kinematics, dynamics, embedded computing, electronics design, and also closes connection to automotive industry. And as a practical task, it increases students motivation.

Kinematic and optimal design of a three-wheeled holonomic omnidirectional robot platform for mobile manipulation tasks

“…The most popular kind of omnidirectional mobile robot is a three-wheeled model that can move in any direction [8]. Comparing an omnidirectional robot to a traditional two-wheeled robot and a four-wheel drive robot, omnidirectional robots have many advantages, including versatility in movement patterns and the freedom to travel in either direction [9][10]. The robot with omnidirectional wheels may travel in any direction with the same speed and acceleration.…”