Design and control of mobile robot with Mecanum wheel

Abstract

In this paper, we present an omni-directional mobile robot with Mecanum wheel and suggest a control method using a fuzzy technique. Our previous version of the mobile robot can be unstable due to the characteristics of the customdesigned Mecanum wheel or to the unexpected effect by suspension. To remedy these defects, we propose a new version of the custom-designed Mecanum wheel and a new structure design of mobile robot. To improve the performance of the robot we implemented a motor control algorithm using the fuzzy gain tuning scheme. The experimental results indicate that the developed holonomic mobile robot is better in performance than the previous robot.