| Title |
A Differential Drive Mobile Robot with Omnidirectionality |
| Authors |
김민찬(Min Chan Kim) ; 성영휘(Young Whee Sung) |
| DOI |
https://doi.org/10.5370/KIEE.2020.69.5.698 |
| Keywords |
Differential Drive; Mobile Robot; Omni-directional; Electric Brake |
| Abstract |
In this paper, we propose a new type of differential drive mobile robot that has omni-directional mobility. The proposed mobile robot has two wheels which can be controlled independently by two separate motors. These motors are in a housing, to which a shaft is perpendicularly attached. This shaft can be connected or disconnected to the robot body by using an electric brake which is attached to the robot body. When the shaft is connected to the robot body, the robot is same to conventional differential drive mobile robot. When the shaft is disconnected to the robot body, the wheels of the robot can rotate without causing any motion of the robot body. The proposed mobile robot can show omnidirectionality by properly controlling the electric brake and the two motors. Generally, omni-directional mobile robot require specially designed omni-directional wheels. However, the proposed robot adopts ordinary wheels so, it can move with high speed and can be employed in outdoor applications. We verified that the proposed mobile robot has omni-directionality by several experiments. |