Comparison of Motion Strategies between Vehicle with Conventional Wheels and Omni Wheels

Vehicles with omnidirectional wheels are able to move in any direction immediately. Previous studies indicated that such vehicles have several available traveling strategies even for turning a corner. However, the difference between the omnidirectional-wheeled vehicle (OWV) and the conventional-wheeled vehicle (CWV) in motion strategies has not been studied quantitatively. With this in mind, this study aims to compare the motion strategy of the OWV with that of the CWV when the vehicles travel on a specified path with one corner. The possible traveling strategies of the vehicles are analyzed based on their kinetic model. The time cost of these two types of vehicles is compared and discussed when the path conditions are varied. The results show that the CWV has an advantage in the time cost, while the OWV in the flexibility and adaptability to severe path conditions.