Trial Design of A General Purpose Mobile Platform Using A Novel Omni-Directional-Wheel-Mechanism for Robotic Researches

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Studying and developing a general purpose mobile platform, which can be widely used in robotics research and industrial fields, are the main aims of this research. In the designed system, the wheel mechanism of the platform is a novel designed omni directional type which has been proposed in our research group and examined for several years. For our system to be of practical use, especially in outdoor environments, we have developed a non-holonomic mechanism which can employ normal air-tires instead of specially designed wheels.In this research, we specially focused on the following themes :(1) The first research subject is to construct an effective procedure to design a trajectory for the platform on-line. We have settled it using the B-Spline functions.(2) We proposed an information-packet exchanging scheme, named event-pool system, to achieve simple and powerful interfacing architecture which is able to interconnect many different types of sensors, acatuators, software modules, etc.