Perpendicular Encoder-Based Odometry for Accurate Navigation in Three-Wheel Omni Chassis

This research paper covers the kinematics and software implementation of a three-wheel holonomic omni drive system using DC motors. This system consists of encoders that are placed perpendicular to each other for accurate navigation and a gyroscope to maintain orientation. Additionally, the PID control along with the drive system’s omni wheel arrangement allows for complete omnidirectional movement and mobility. The velocities for each wheel is determined by using these kinematic models of each wheel assembly, and the perpendicular encoders provide accurate real-time data. This drive system takes precise input in the form of angle and distance. In the technology of holonomic drives, this attempt offers a solid foundation for more future advancements.