Kinematics and Dynamics Modelling of a Mecanum Wheeled Mobile Platform

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, hospitals, etc.