Abstract
It is shown how a holonomic and omni-directional mobile robot is developed towards indoor public services. Double offset orientable wheels with orthogonal velocity components are proposed. The proposed wheel provides precise positioning and reliable navigation performance as well as durability. A fabricated prototype is introduced, then, a preliminary experiment is carried out. In order to estimate the position and the orientation of the mobile robot, a vision system is used with a fixed camera attached to a ceiling.
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