Control of Omni-Directional Mobile Robot Motion


  • A. Salam Al-Ammri Department of Mechatronics Engineering/ Al-Khawarizmi College of Engineering/ University of Baghdad
  • Iman Ahmed Department of Mechatronics Engineering/ Al-Khawarizmi College of Engineering/ University of Baghdad


This paper presents the motion programming and control of omni-directional mobile robot through the process of building and programming a small robotic platform with secondary design criteria of modularity and simplified control. This is accomplished by combining the positive aspects of several different robotics platform ideas. The platform is shaped like an equilateral triangle with a servo motor, sensors, and omni-wheel, controlled by a PIC microcontroller.

      In this work the kinematics, inverse kinematics and dynamic module for the platform is derived. Two search algorithms (the wall-following search and the “most-open-area” search) is designed, tested, and analyzed experimentally.


Download data is not yet available.


[1] S. Killoilgh, and F. Pin," Design of an Omni-directional and Holonomic Wheeled Platform Prototype", Proc. IEEE Int. Conf. on Robotics and Automation, pp. 84-90, France,1992.
[2] Y. Low, J. Angeles, and K. Low, "A comparative Mobility Study of Three Wheeled Mobile Robots", Proc. The Sixth International Conference on Control, Automation, Robotics and Vision, Singapore, 2000.
[3] M. West, and H. Asada," Design of Ball Wheel Vehicles with Full Mobility, Invariant Kinematics and Dynamics and Anti-slip Control", Prco. The 1994 ASME Design Technical Conference 23rd Biennial Mechanisms Conference, pp.377- 384, 1994.
[4] J. Grabowiecki,n, “Vehicle Wheel”, US Patent 1,303,535, June 3, 1991
[5] N. Jones, M. Hill, and M. Shanahan, "Small-Size Soccer Robots", University of Adelaide, pp. 2-7, Australia, 2005.
[6] S. Saha, J. Angeles, and J. Darcovich, "The Design of Kinematically Isotropic Rolling Robots with Omni-directional Wheels", Mechanism and Machine Theory, Vol. 8, pp.1127-1137,1995
[7] N. Langlois, " Modularity in Technology and Organizations". Thesis, the University of Connecticut;, 2000.
[8] T. YATA, L. KLEEMAN and S.YUTA, "Wall Following Using Angle Information Measured by a Single Ultrasonic Transducer". IEEE Int. Conf. On Robotics & Automation, Leuven, Belgium, 1998.
[9] K.Yoram, "Robotics For Engineers", McGraw-Hill Book Company."1985".
[10] A. K. Bose, "Modular Omni Directional Drive for a Mobile Robot Platform", Fraunhofer Institute for Autonomous Intelligent Systems, Germany, pp.1-10 2003.




How to Cite

Al-Ammri, A. S., & Ahmed, I. (2010). Control of Omni-Directional Mobile Robot Motion. Al-Khwarizmi Engineering Journal, 6(4), 1–9. Retrieved from