ABSTRACT
The conventional wheel mobile robot has applied as the platform for robotic research. Limitation of such a wheel subjects to flexibility of robot control performance, such as robot motion capability, low rotation torque of the wheel, required high friction of ground, etc., To reduce such limitation, a new platform of robot wheel is introduced [1], an omnidirectional mobile robot, to be applied in research and practical use in robot development. The ability of robot has increased function of step-climbing in mechanical design aspect [2]. For application, the omnidirectional mobile robot has extensively to design a robot for hospital environment [3]. They presented a novel wheel design by using anisotropic friction
properties. From above literature, the omnidirectional mobile robot was described in the design technique of mechanical system. Moreover, robot control and navigation system were carried out to extensive research. To resolve the problem of plant parameter disturbance, the adaptive PI control system for an omnidirectional mobile robot was proposed by [4]. Control gains were required to readjustment based on error signals. In positioning robot control, linear visual servoing-based control of position and attitude of omnidirectional mobile robot. Position and attitude of target were marked with a binocular vision system. To reach the specified target, robot motion and binocular vision were linearly approximated to control omnidirectional mobile robot. From such the approximate matrix and difference of binocular vision
between target marker and robot marker, the translational and rotational velocity of robot ware generated to command the robot to reach the destination. The main problem of the proposed control method has some problem with the distortion of image information. Robot navigation of omnidirectional mobile robots was proposed by [5].
