A new wheel control system for the omnidirectional HERMIES-III robot

Abstract

SUMMARY We have designed, built, and tested a new wheel control system for the HERMIES-III robot. HERMIES-III is a large mobile robot with omnidirectional steering that is designed for human scale experiments. During each cycle (at 20 Hz), the wheel control system moves the robot toward a goal and calculates the current position of the robot. The system has seven modes for moving to a goal and the goal may be changed during motion of the robot.