Development of a holonomic mobile robot for field applications

This paper presents a development of a holonomic mobile robot with remote operation capability. Most of the currently available holonomic mobile robots find problems in field applications because they has not been adopted to field environment.To address those problems we have develop a holonomic platform with a capability of carrying 30 kg payload. This platform use normal car type wheels and a complex multi-processor control system controls each wheels steering and driving to achieve the correct holonomic motion. We have tested it in indoor and out door environments and it´s design , hardware and control is presented in this paper.