TY - GEN
T1 - Step-by-step Development of an Omnidirectional Mobile Robot
AU - Denegri, Eddy
AU - Munoz-Panduro, Emanuel
AU - Ramos, Oscar E.
N1 - Publisher Copyright:
© 2019 IEEE.
PY - 2019/11
Y1 - 2019/11
N2 - Mobile robots are ubiquitous nowadays, and some companies build and sell them; but an inconvenience with these already built platforms is, for most of them, the limited access to their low level. Moreover, in spite of their ubiquity, there exists scarce information on how to build a complete mobile platform from scratch. This paper shows the detailed steps to build an omnidirectional robot based on mecanum wheels, for applications on autonomous exploration and navigation. The advantage of the holonomic configuration of the robot is the unconstrained instantaneous direction of motion. We provide a bottom-up guide for the construction of this robot, including the electronic devices, wiring, and the connection setup. Control and software frameworks are also detailed, and the result of the final robot together with some technical characteristics are presented.
AB - Mobile robots are ubiquitous nowadays, and some companies build and sell them; but an inconvenience with these already built platforms is, for most of them, the limited access to their low level. Moreover, in spite of their ubiquity, there exists scarce information on how to build a complete mobile platform from scratch. This paper shows the detailed steps to build an omnidirectional robot based on mecanum wheels, for applications on autonomous exploration and navigation. The advantage of the holonomic configuration of the robot is the unconstrained instantaneous direction of motion. We provide a bottom-up guide for the construction of this robot, including the electronic devices, wiring, and the connection setup. Control and software frameworks are also detailed, and the result of the final robot together with some technical characteristics are presented.
KW - Omnidirectional robot
KW - ROS (Robot Operating System)
KW - Swedish wheel
UR - http://www.scopus.com/inward/record.url?scp=85082402863&partnerID=8YFLogxK
U2 - 10.1109/SHIRCON48091.2019.9024865
DO - 10.1109/SHIRCON48091.2019.9024865
M3 - Conference contribution
AN - SCOPUS:85082402863
T3 - SHIRCON 2019 - 2019 IEEE Sciences and Humanities International Research Conference
BT - SHIRCON 2019 - 2019 IEEE Sciences and Humanities International Research Conference
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2019 IEEE Sciences and Humanities International Research Conference, SHIRCON 2019
Y2 - 13 November 2019 through 15 November 2019
ER -