OMNIBEE: Autonomous Omnidirectional Robot for Service Robotics Applications

Abstract

This paper proposes the construction of the software and hardware of an omnidirectional mobile robot with the ability to receive linear and angular velocity commands to move from one place to another. In the prototype can be used controllers suitable for their configuration, capable of performing movements of the omnidirectional platform for the execution of specific tasks, the robot will also transmit the current speeds to have a feedback of any control, i.e., a control law for the execution of positioning, trajectory tracking, road tracking, among others.