The development of driving system with Differential Drive Steering System for omni-directional mobile robot

Holonomic omnidirectional mobile robot is useful with its high mobility in narrow or crowded area, and omnidirectional robot equipped with normal tires is desired to ride across difference in level, vibration suppression and ride comfort. Caster-drive mechanism using normal tire has been developed to realize a holonomic omnidirectional robot, however, there remains some problems. This paper presents effective systems to control the caster-drive wheels of omnidirectional mobile robot. Differential-Drive Steering System (DDSS) using planetary gearing is proposed to improve the operation ratio of motors. DDSS generates driving and steering torque effectively from two motors. Simulation and experimental results show the proposed system is effective for holonomic omnidirectional mobile robots.