Self-developed Three Wheels Omni-Directional for Autonomous Mobile Robots

Abstract

The proposed system presents the method to self-developed three wheels Omni-directional for autonomous mobile robots. The implementation system including 60W Planet DC motor for three wheels, three encoders for speed feedback, one encoder for distance feedback, one digital compass sensor for angle feedback. The hardware system includes two section, the first one is the main system it received the signal from sensor compass and encoder and then it controls three subsystems to adjust steering speed each wheel. The second one is the sub-system with the mission control only one DC motor from the control signal of the main system. The main system is developed based STM32F407 and the sub-system is an STM32F103 microcontroller. Furthermore, The PID algorithm is applied to control speed DC motor and the trajectory generation algorithms have been built for Omni-directional. From the implementation results, the proposed system yields good quality trajectories and implementable real-time. The error of positional is 1.33% and the angle is 1.75%.