{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,10,17]],"date-time":"2025-10-17T13:28:00Z","timestamp":1760707680894,"version":"3.41.2"},"reference-count":17,"publisher":"Emerald","issue":"4","license":[{"start":{"date-parts":[[2006,7,1]],"date-time":"2006-07-01T00:00:00Z","timestamp":1151712000000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.emerald.com\/insight\/site-policies"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":[],"published-print":{"date-parts":[[2006,7,1]]},"abstract":"<jats:sec><jats:title content-type=\"abstract-heading\">Purpose<\/jats:title><jats:p>In this paper, two omni\u2010directional mobile vehicles are designed and controlled implementing distributed mechatronics controllers. Omni\u2010directionality is the ability of mobile vehicle to move instantaneously in any direction. It is achieved by implementing Mecanum wheels in one vehicle and conventional wheels in another vehicle. The control requirements for omni\u2010directionality using the two above\u2010mentioned methods are that each wheel must be independently driven, and that all the four wheels must be synchronized in order to achieve the desired motion of each vehicle.<\/jats:p><\/jats:sec><jats:sec><jats:title content-type=\"abstract-heading\">Design\/methodology\/approach<\/jats:title><jats:p>Distributed mechatronics controllers implementing Controller Area Network (CAN) modules are used to satisfy the control requirements of the vehicles. In distributed control architectures, failures in other parts of the control system can be compensated by other parts of the system. Three\u2010layered control architecture is implemented for; time\u2010critical tasks, event\u2010based tasks, and task planning. Global variables and broadcast communication is used on CAN bus. Messages are accepted in individual distributed controller modules by subscription.<\/jats:p><\/jats:sec><jats:sec><jats:title content-type=\"abstract-heading\">Findings<\/jats:title><jats:p>Increase in the number of distributed modules increases the number of CAN bus messages required to achieve smooth working of the vehicles. This requires development of higher layer to manage the messages on the CAN bus.<\/jats:p><\/jats:sec><jats:sec><jats:title content-type=\"abstract-heading\">Research limitations\/implications<\/jats:title><jats:p>The limitation of the research is that analysis of the distributed controllers that were developed is complex, and that there are no universally accepted tool for conducting the analysis. The other limitation is that teh mathematical models of the mobile robot that have been developed need to be verified.<\/jats:p><\/jats:sec><jats:sec><jats:title content-type=\"abstract-heading\">Practical implications<\/jats:title><jats:p>In the design of omni\u2010directional vehicles, reliability of the vehicle can be improved by modular design of mechanical system and electronic system of the wheel modules and the sensor modules.<\/jats:p><\/jats:sec><jats:sec><jats:title content-type=\"abstract-heading\">Originality\/value<\/jats:title><jats:p>The paper tries to show the advantages of distributed controller for omni\u2010directional vehicles. To the author's knowledge, that is a new concept.<\/jats:p><\/jats:sec>","DOI":"10.1108\/01439910610667890","type":"journal-article","created":{"date-parts":[[2006,7,4]],"date-time":"2006-07-04T08:20:27Z","timestamp":1152001227000},"page":"278-284","source":"Crossref","is-referenced-by-count":5,"title":["On distributed mechatronics controller for omni\u2010directional autonomous guided vehicles"],"prefix":"10.1108","volume":"33","author":[{"given":"Nkgatho","family":"Sylvester Tlale","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"140","reference":[{"key":"key2022031220270266700_b1","unstructured":"Badve, A.A. (2003), \u201cAll terrain omni\u2010directional autonomous mobile vehicle\u201d, Master's thesis, Massey University, Auckland."},{"key":"key2022031220270266700_b2","unstructured":"Bak, M. (2001), \u201cControl of systems with constraints\u201d, PhD thesis, Department of Automation, Technical University of Denmark, Lyngby."},{"key":"key2022031220270266700_b3","doi-asserted-by":"crossref","unstructured":"Barrett, G. and Lafortune, S. (2000), \u201cDecentralized supervisory control with communicating controllers\u201d, IEEE Trans. on Automatic Control, Vol. 45 No. 9, pp. 1620\u201038.","DOI":"10.1109\/9.880613"},{"key":"key2022031220270266700_b5","unstructured":"Borenstein, J., Everett, H.R. and Feng, L. (1996), Navigating Mobile Vehicle, AK Peters, Wellesley, MA."},{"key":"key2022031220270266700_b4","doi-asserted-by":"crossref","unstructured":"Brooks, R.A. (1986), \u201cA roboust layered control system for a mobile vehicle\u201d, IEEE Journal of Robotics, Vol. 2 No. 1, pp. 14\u201023.","DOI":"10.1109\/JRA.1986.1087032"},{"key":"key2022031220270266700_b6","unstructured":"Chen, D\u2010J. (2001), \u201cArchitecture for systematic development of mechatronics software systems\u201d, Licentiate thesis, Mechatronics Lab, Department of Machine Design Royal Institute of Technology, KTH, Stockholm."},{"key":"key2022031220270266700_b7","unstructured":"Dubowsky, S., Genot, F., Godding, S., Kozono, H., Skwersky, A., Yu, H. and Yu, L. (2000), \u201cPAAM \u2013 a robotic aid to the elderly for mobility assistance and monitoring: a helping\u2010hand for the elderly\u201d, paper presented at IEEE International Conference on Robotics and Automation."},{"key":"key2022031220270266700_b10","unstructured":"Kalpakjian, S. and Schmid, S.R. (2000), Manufacturing Engineering and Technology, Prentice\u2010Hall, Englewood Cliffs, NJ."},{"key":"key2022031220270266700_b9","unstructured":"Lazic, N. (2002), \u201cOptimal vehicle dynamics \u2013 yaw rate and side slip angle control using 4\u2010wheel steering\u201d, Master's thesis, Department of Automatic Control Lund Institute of Technology, Sweden."},{"key":"key2022031220270266700_b12","unstructured":"Microchip Com (2005), available at: www.microchip.com\/ (accessed 15 January 2005)."},{"key":"key2022031220270266700_b13","unstructured":"Teneketzis, D. (1996), \u201cOn information structures and nonsequential stochastic control\u201d, CWI Quarterly, Vol. 9 No. 3, pp. 241\u201060."},{"key":"key2022031220270266700_b14","doi-asserted-by":"crossref","unstructured":"West, M. and Asada, H. (1997), \u201cDesign of ball wheel mechanisms for omni\u2010directional vehicles with full mobility and invariant kinematics\u201d, Journal of Mechanical Design, Vol. 119, pp. 153\u201061.","DOI":"10.1115\/1.2826230"},{"key":"key2022031220270266700_b15","unstructured":"Zhang, Y., Roufas, K. and Yim, M. (2001), \u201cSoftware architecture for modular self\u2010reconfigurable robots\u201d, paper presented at IEEE\/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS), Hawaii."},{"key":"key2022031220270266700_frd1","doi-asserted-by":"crossref","unstructured":"Langson, W. and Alleyne, A. (1999), \u201cMultivariable bilinear vehicle control using steering and individual wheel torques\u201d, Journal of Dynamic Systems, Measurement and Control, Vol. 121, pp. 631\u20107.","DOI":"10.1115\/1.2802527"},{"key":"key2022031220270266700_frd2","unstructured":"Makatchev, M., McPhee, J.J., Tso, S.K. and Lang, S.Y.T. (1999), \u201cSystem design, modelling, and control of a four\u2010wheel\u2010steering mobile vehicle\u201d, Proc. of the 19th Chinese Control Conference, Hong Kong, pp. 759\u201063."},{"key":"key2022031220270266700_frd3","doi-asserted-by":"crossref","unstructured":"Matsumto, N. and Tomizuka, M. 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