Tlale, NSDe Villiers, M2009-01-082009-01-082008-12Tlale, NS and De Villiers, M. 2008. Kinematics and dynamics modelling of a mecanum wheeled mobile platform. 15th International Conference on Mechatronics and Machine Vision in Practice. Auckland, New Zealand, 2-4 December 2008. pp 703-708978-0-473-13532-4http://hdl.handle.net/10204/277115th International Conference on Mechatronics and Machine Vision in Practice. Auckland, New Zealand, 2-4 December 2008.Omni-directional mobile platforms have the ability to move instantaneously in any direction from any configuration. As such, it is important to have a mathematical model of the platform, especially if the platform is to be used as an autonomous vehicle. Autonomous behaviour requires that the mobile robot choose the optimum vehicle motion in different situations for object/collision avoidance and task achievement. This paper develops and verifies a mathematical model of a mobile robot platform that implements mecanum wheels to achieve omni-directionality. The mathematical model will be used to achieve optimum autonomous control of the developed mobile robot as an office service robot. Omni-directional mobile platforms have improved performance in congested environments and narrow aisles, such as those found in factory workshops, offices, warehouses and hospitals.enAutomatic guided vehicle (AGV)Mecanum wheelKinematics modellingOmni-directionalityConference PresentationTlale, N., & De Villiers, M. (2008). Kinematics and dynamics modelling of a mecanum wheeled mobile platform. http://hdl.handle.net/10204/2771Tlale, NS, and M De Villiers. "Kinematics and dynamics modelling of a mecanum wheeled mobile platform." (2008): http://hdl.handle.net/10204/2771Tlale N, De Villiers M, Kinematics and dynamics modelling of a mecanum wheeled mobile platform; 2008. http://hdl.handle.net/10204/2771 .TY - Conference Presentation AU - Tlale, NS AU - De Villiers, M AB - Omni-directional mobile platforms have the ability to move instantaneously in any direction from any configuration. As such, it is important to have a mathematical model of the platform, especially if the platform is to be used as an autonomous vehicle. Autonomous behaviour requires that the mobile robot choose the optimum vehicle motion in different situations for object/collision avoidance and task achievement. This paper develops and verifies a mathematical model of a mobile robot platform that implements mecanum wheels to achieve omni-directionality. The mathematical model will be used to achieve optimum autonomous control of the developed mobile robot as an office service robot. Omni-directional mobile platforms have improved performance in congested environments and narrow aisles, such as those found in factory workshops, offices, warehouses and hospitals. DA - 2008-12 DB - ResearchSpace DP - CSIR KW - Automatic guided vehicle (AGV) KW - Mecanum wheel KW - Kinematics modelling KW - Omni-directionality LK - https://researchspace.csir.co.za PY - 2008 SM - 978-0-473-13532-4 T1 - Kinematics and dynamics modelling of a mecanum wheeled mobile platform TI - Kinematics and dynamics modelling of a mecanum wheeled mobile platform UR - http://hdl.handle.net/10204/2771 ER -