Implementation of PRM in a Three-Wheeled Holonomic Robot

This study details the design and construction of a three-wheeled holonomic mobile robot, emphasizing its capability to maneuver in confined spaces. The robot is built from lightweight, durable materials and features wireless communication and three omnidirectional wheels, which enable movement in any direction. A kinematic control was implemented to achieve precise navigation to desired points. The Probabilistic Roadmap (PRM) algorithm was applied for route planning in obstaclerich environments to facilitate effective obstacle avoidance. The outcome is a robot well-suited for applications in complex environments.