On distributed mechatronics controller for omni-directional autonomous guided vehicles

Purpose – In this paper, two omni-directional mobile vehicles are designed and controlled implementing distributed mechatronics controllers. Omni-directionality is the ability of mobile vehicle to move instantaneously in any direction. It is achieved by implementing Mecanum wheels in one vehicle and conventional wheels in another vehicle. The control requirements for omni-directionality using the two above-mentioned methods are that each wheel must be independently driven, and that all the four wheels must be synchronized in order to achieve the desired motion of each vehicle.