The all-direction vehicle is equipped with four Mecanum wheels. The cool part of this vehicle is the flexibility of moving in any direction while keeping itself in a constant direction. It is achieved with the special structure of Mecanum wheel and their proper configuration on the vehicle. You can visit the website http://www.chiefdelphi.com/media/papers/1836 and download the omndirectional.pdf file to get to know how it works. In general, the speeds of Mecanum wheel are governed by the equations in the picture.
So, let’s build a real one from assembling its framework.
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