Controller design for omni-directional mobile robots (OMRs), which is referred to as a benchmark control problem in most of the related literature, becomes more difficult when their main characteristic to rapidly change position and orientation is desired. On the other hand, it is severe to provide their dynamics model analytically including an exact description of the slip phenomena. The aim of the present study is to design a model free control algorithm for a typical OMR equipped with 3 standard omni-directional wheels so that the interesting characteristic is preserved. In this way, a new software based mechatronic model, which contains numerical model of the ground contact forces, is introduced for the under study system. After that, the controller is designed via fuzzy logic theory based on fundamental movement modes. Some set of simulations are conducted in order to investigate the merit of the used method. Good trajectory tracking results are reported before advanced tuning of the proposed fuzzy controllers.
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