Design and Control of Mobile Robot with Mecanum Wheel

In this paper, we present a design of an omni-directional mobile robot with Mecanum wheel and suggest a control method using the fuzzy technique. Our previous version of the mobile robot can be unstable due to the charac- teristics of the custom-designed Mecanum wheel or to the unexpected effect by suspension. To remedy these defects, we propose a new version of the custom-designed Mecanum wheel and a new structure design of mobile robot. To im- prove the performance of the robot we implemented a motor control algorithm using the fuzzy gain tuning scheme. The experimental results indicate that the developed holonomic mobile robot is better in performance than the previous robot.