Development of an Omnidirectional Mobile Robot with Dual Swivel Wheels and Simulation of it Driving Performance

Omnidirectional driving wheel mechanisms include omni-wheels, mecanum wheels, swivel wheels, and ball wheels. However, this driving wheel technology encounters challenges such as slip, load distribution, floor surface compatibility, and contact friction. In this paper, a dual swivel wheel-based mobile robot design for omnidirectional motion is presented. By using the doublewheel structure, the torque required for each module can be divided into two parts. In addition, the low contact friction with the floor surface enables easy changes in the direction during rotation. To design the mechanics of the dual swivel wheel-based mobile robot and verify its driving performance, a robotics simulation environment was constructed using the Unity engine and ROS2. Through simulations, omnidirectional driving performance, steering precision, minimum radius of rotation, and positional precision were studied.