Design and Implementation of an Omni-direction Mobile Robot

• Main Authors: Pei-Jiun Huang, 黃珮珺
• Other Authors: Chyi-Shyong Lee
• Format: Others
• Language: zh-TW
• Published: 2012
• Online Access: http://ndltd.ncl.edu.tw/handle/h47mfq

碩士 === 龍華科技大學 === 電子工程系碩士班 === 100 === Omni-directional mobile robot is a special kind of wheeled robots, driven by Omni-directional wheels, compared with General use differential steering robot, it can move any direction without rotation arbitrary plane, but difficult to be control. This paper presents an Omni-directional mobile robot platform Omni-directional robot simulation and implementation, hardware, including motor driver circuits and infrared set circuits. Results for: (1) The mathematical model of the Omni-directional mobile robot is derived and verified (2) Using Matlab simulation of the Omni-direction mobile robot form is valid. (3) Furthermore, the wireless remote control function is added. This paper presented own complete design and low-cost learning on Omni-direction mobile robot, and used it to learning Omni-direction mobile robot motion control and hardware implementations.