• Srun Channareth Faculty of Electronics, National Polytechnic Institute of Cambodia, Phnom Penh, Cambodia
  • Lonh Vannsith Faculty of Electronics, National Polytechnic Institute of Cambodia, Phnom Penh, Cambodia
  • Ny Virbora Faculty of Electronics, National Polytechnic Institute of Cambodia, Phnom Penh, Cambodia




head control, Holonomic drive, Kinematic, PD Controller


This article describes an experimental investigation into the head tracking and control of a four-wheeled Omni-Robot. This study described the control scheme of the omnidirectional mobile robot. Additionally, the kinematics of the mobile robot is presented., A mobile robot with four Omni wheels was also developed on real hardware to verify the controller architecture design. The robot system is modeled and then implemented with the Arduino Microcontroller. This robot has two rotary encoders for running on the x-axis and y-axis, respectively. The gyro sensor (MPU-6050) is placed in the robot's middle and tracks data obtained by yaw angle. MATLAB Simulink was used to find the PD controller based on manual adjustment. The control architecture was deployed to complete and run the experiment on the mobile robot to evaluate the outcomes. The experiment results show the robot's motion control improvement in various scenarios.


Download data is not yet available.


C. J. Wang Jianbin, "An Adaptive Sliding Mode Controller for Four-wheeled Omnidirectional Mobile", in The 31st Chinese Control and Decision Conference, (2019), 5591-5596, DOI: 10.1109/CCDC.2019.8832894.

Fahmizal, C.-H. Kuo, "Trajectory and heading tracking of a mecanum wheeled robot using fuzzy logic control", (2016) International Conference on Instrumentation, Control and Automation (ICA), 54-59, DOI: 10.1109/ICA.2016.7811475.

S.H. Mahboobi, Aria Alasty, "Trajectory Tracking of a Mobile Robot Using Fuzzy Logic Tuned by Genetic Algorithm", International Journal of Engineering-Transaction A: Basics, Vol.19, No. 1, (2006), 95-104.

E. Malayjerdi, H. Kalani and M. Malayjerdi, "Self-Tuning Fuzzy PID Control of a Four-Mecanum Wheel Omni-directional Mobile Platform", 26th Iranian Conference on Electrical Engineering, (2018), 816-820, DOI: 10.1109/ICEE.2018.8472568.

Yong Liu, Xiaofei Wu, J. Jim Zhu and Jae Lew, "Omni-directional mobile robot controller design by trajectory linearization" Proceedings of the 2003 American Control Conference, (2003), 3423-3428 vol.4, DOI: 10.1109/ACC.2003.1244061.

M. Albaker Kawtharani, V. Fakhari and M. Reza Haghjoo, "Tracking Control of an Omni-Directional Mobile Robot ", International Congress on Human-Computer Interaction, Optimization and Robotic Applications (HORA), (2020), 1-8, DOI: 10.1109/HORA49412.2020.9152835.

T. N. Khac, N. Thai Huu, M. N. Van and T. Bui Trung, "Adaptive Optimal Control of Four-Wheel Omni Robot using Reinforcement Learning" International Conference on System Science and Engineering (ICSSE), (2021), 164-169, DOI: 10.1109/ICSSE52999.2021.9538431.

J. Cornejo, J. Magallanes, E. Denegri and R. Canahuire, "Trajectory Tracking Control of a Differential Wheeled Mobile Robot: a Polar Coordinates Control and LQR Comparison", IEEE XXV International Conference on Electronics, Electrical Engineering and Computing (INTERCON), (2018), 1-4, DOI: 10.1109/INTERCON.2018.8526366.

A. Sheikhlar, A. Fakharian and A. Adhami-Mirhosseini, "Fuzzy adaptive PI control of omni-directional mobile robot", 13th Iranian Conference on Fuzzy Systems (IFSC), (2013), 1-4, DOI: 10.1109/IFSC.2013.6675667.

K. Kanjanawanishkul, "Path Following and Velocity Optimizing for an Omnidirectional Mobile Robot", International Journal of Engineering-Transaction A: Basics, Vol.28, No. 4, (2015), 537-545.

M.H. Korayem, T.Bani Rostam, "Experimental Analysis for Measuring Errors in Wheeled Mobile Robots", International Journal of Engineering, Vol.18, No. 2, (2005), 115-133.

S.Kim and D.H. Kim, "A design and implementation of moving object tracking system for omni-directional robot," International Conference on Control, Automation and Systems, (2007), 1790-1793, DOI: 10.1109/ICCAS.2007.4406635.

M. Galicki and M. Banaszkiewicz, "Optimal trajectory tracking control of omni-directional mobile robots", 12th International Workshop on Robot Motion and Control (RoMoCo), (2019), 137-142, DOI: 10.1109/RoMoCo.2019.8787377.




How to Cite

Channareth, S., Vannsith, L., & Virbora, N. (2022). EXPERIMENTAL IN HEAD TRACKING CONTROL OF A FOUR OMNI WHEELED MOBILE ROBOT SYSTEM. Indonesian Journal of Engineering and Science, 3(3), 015–026. https://doi.org/10.51630/ijes.v3i3.67