Omnidirectional Mobile Robot Platform with Four Mecanum Wheels Featuring Remote Motion Control Through Either a Graphical Application or an Inertial Measurement Unit

摘要

Omnidirectional mobile platforms allow simultaneous translation and rotation, which leads to the optimization of their trajectories, a possible reduction of the distance traveled and, consequently, a reduction of the energetic consumption. This paper presents an omnidirectional mobile robot platform based on four Mecanum wheels, a graphical application which allows remote motion control and monitoring of several parameters of the platform, and an inertia] remote control that uses an IMU (Inertial Measurement Unit) and an AHRS (Attitude and Heading Reference System) to set the movements of the platform.