Design of the active split offset casters based omni-directional vehicle in high acceleration condition

Up to now, most of studies about omni-directional vehicles have been focusing on omni-directional maneuverability. In contrast, this research would investigate deeply the operation of an omni-directional mobile robot that is able to move with high acceleration. In order to fulfill that goal, the vehicle utilizes the structure of Active Split Offset Casters (ASOC). This paper is mainly focused on hardware design and control algorithm to achieve high acceleration while preserving the vehicle´s isotropy and optimum controllability.