{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,2,25]],"date-time":"2026-02-25T20:22:43Z","timestamp":1772050963409,"version":"3.50.1"},"reference-count":39,"publisher":"MDPI AG","issue":"9","license":[{"start":{"date-parts":[[2017,9,10]],"date-time":"2017-09-10T00:00:00Z","timestamp":1505001600000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>In order to transport materials flexibly and smoothly in a tight plant environment, an omni-directional mobile robot based on four Mecanum wheels was designed. The mechanical system of the mobile robot is made up of three separable layers so as to simplify its combination and reorganization. Each modularized wheel was installed on a vertical suspension mechanism, which ensures the moving stability and keeps the distances of four wheels invariable. The control system consists of two-level controllers that implement motion control and multi-sensor data processing, respectively. In order to make the mobile robot navigate in an unknown semi-structured indoor environment, the data from a Kinect visual sensor and four wheel encoders were fused to localize the mobile robot using an extended Kalman filter with specific processing. Finally, the mobile robot was integrated in an intelligent manufacturing system for material conveying. Experimental results show that the omni-directional mobile robot can move stably and autonomously in an indoor environment and in industrial fields.<\/jats:p>","DOI":"10.3390\/s17092073","type":"journal-article","created":{"date-parts":[[2017,9,11]],"date-time":"2017-09-11T10:28:46Z","timestamp":1505125726000},"page":"2073","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":119,"title":["The Design and Development of an Omni-Directional Mobile Robot Oriented to an Intelligent Manufacturing System"],"prefix":"10.3390","volume":"17","author":[{"given":"Jun","family":"Qian","sequence":"first","affiliation":[{"name":"School of Mechanical Engineering, Hefei University of Technology, 193 Tunxi Road, Hefei 230009, China"}]},{"given":"Bin","family":"Zi","sequence":"additional","affiliation":[{"name":"School of Mechanical Engineering, Hefei University of Technology, 193 Tunxi Road, Hefei 230009, China"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-3535-8470","authenticated-orcid":false,"given":"Daoming","family":"Wang","sequence":"additional","affiliation":[{"name":"School of Mechanical Engineering, Hefei University of Technology, 193 Tunxi Road, Hefei 230009, China"}]},{"given":"Yangang","family":"Ma","sequence":"additional","affiliation":[{"name":"School of Mechanical Engineering, Hefei University of Technology, 193 Tunxi Road, Hefei 230009, China"}]},{"given":"Dan","family":"Zhang","sequence":"additional","affiliation":[{"name":"Lassonde School of Engineering, York University, 4700 Keele Street, Toronto, ON M3J 1P3, Canada"}]}],"member":"1968","published-online":{"date-parts":[[2017,9,10]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"26","DOI":"10.1109\/MSPEC.2008.4547508","article-title":"Three Engineers, Hundreds of Robots, One Warehouse","volume":"45","author":"Erico","year":"2008","journal-title":"IEEE Spectr."},{"key":"ref_2","unstructured":"B\u00f8gh, S., Schou, C., and R\u00fchr, T. (2014, January 2\u20133). Integration and Assessment of Multiple Mobile Manipulators in a Real-World Industrial Production Facility. Proceedings of the 45th International Symposium on Robotics, Munich, Germany."},{"key":"ref_3","doi-asserted-by":"crossref","unstructured":"Bourne, D., Choset, H., Hu, H., Kantor, G., Niessl, C., Rubinstein, Z., Simmons, R., and Smith, S. (2015, January 26\u201330). Mobile Manufacturing of Large Structures. Proceedings of the 2015 IEEE International Conference on Robotics and Automation (ICRA), Seattle, WA, USA.","DOI":"10.1109\/ICRA.2015.7139397"},{"key":"ref_4","doi-asserted-by":"crossref","first-page":"171","DOI":"10.1007\/978-3-319-18615-3_14","article-title":"RoboCup@Work: Competing for the Factory of the Future","volume":"8992","author":"Kraetzschmar","year":"2014","journal-title":"Lect. Notes Comput. Sci."},{"key":"ref_5","doi-asserted-by":"crossref","unstructured":"Ullrich, G. (2015). Automated Guided Vehicle Systems: A Primer with Practical Applications, Springer.","DOI":"10.1007\/978-3-662-44814-4"},{"key":"ref_6","first-page":"247","article-title":"Research on Semi-automatic Bomb Fetching for an EOD Robot","volume":"4","author":"Zeng","year":"2007","journal-title":"Int. J. Adv. Robot. Syst."},{"key":"ref_7","doi-asserted-by":"crossref","unstructured":"Shneier, M., and Bostelman, R. (2015). Literature Review of Mobile Robots for Manufacturing.","DOI":"10.6028\/NIST.IR.8022"},{"key":"ref_8","doi-asserted-by":"crossref","first-page":"433","DOI":"10.1016\/j.robot.2008.06.001","article-title":"Holonomy in mobile robots","volume":"57","author":"Batlle","year":"2009","journal-title":"Robot. Auton. Syst."},{"key":"ref_9","doi-asserted-by":"crossref","unstructured":"Oftadeh, R., Aref, M.M., Ghabcheloo, R., and Mattila, J. (2014). System Integration for Real-time Mobile Manipulation. Int. J. Adv. Robot. Syst., 11.","DOI":"10.5772\/58467"},{"key":"ref_10","doi-asserted-by":"crossref","first-page":"164","DOI":"10.1109\/TRO.2008.2010360","article-title":"Swedish Wheeled Omnidirectional Mobile Robots: Kinematics Analysis and Control","volume":"25","author":"Indiveri","year":"2009","journal-title":"IEEE Trans. Robot."},{"key":"ref_11","doi-asserted-by":"crossref","first-page":"289","DOI":"10.1504\/IJAMECHS.2015.074788","article-title":"Omnidirectional Wheeled Mobile Robots: Wheel Types and Practical Applications","volume":"6","author":"Kanjanawanishkul","year":"2015","journal-title":"Int. J. Adv. Mechatron. Syst."},{"key":"ref_12","doi-asserted-by":"crossref","unstructured":"Han, K.L., Kim, H., and Lee, J.S. (2010, January 10\u201313). The sources of position errors of omni-directional mobile robot with Mecanum wheel. Proceedings of the 2010 IEEE International Conference on Systems Man and Cybernetics, Istanbul, Turkey.","DOI":"10.1109\/ICSMC.2010.5642009"},{"key":"ref_13","doi-asserted-by":"crossref","unstructured":"Herrero-P\u00e9rez, D., Alcaraz-Jim\u00e9nez, J.J., and Mart\u00ednez-Barber\u00e1, H. (2013). An accurate and robust flexible guidance system for indoor industrial environments. Int. J. Adv. Robot. Syst., 10.","DOI":"10.5772\/56478"},{"key":"ref_14","doi-asserted-by":"crossref","first-page":"1","DOI":"10.1155\/2015\/347379","article-title":"Kalman Filter Sensor Fusion for Mecanum Wheeled Automated Guided Vehicle Localization","volume":"2015","author":"Yoon","year":"2015","journal-title":"J. Sens."},{"key":"ref_15","unstructured":"R\u00f6hrig, C., Heller, A., He\u00df, D., and Kuenemund, F. (2014, January 2\u20133). Global Localization and Position Tracking of Automatic Guided Vehicles using Passive RFID Technology. Proceedings of the Joint 45th International Symposium on Robotics, Munich, Germany."},{"key":"ref_16","doi-asserted-by":"crossref","first-page":"379","DOI":"10.1007\/s12541-012-0048-9","article-title":"Inertial Navigation System for an Automatic Guided Vehcile with Mecanum Wheels","volume":"13","author":"Kim","year":"2012","journal-title":"Int. J. Precis. Eng. Manuf."},{"key":"ref_17","doi-asserted-by":"crossref","unstructured":"Brunetto, N., Salti, S., Fioraio, N., Cavallari, T., and Di Stefano, L. (2015, January 7\u201313). Fusion of Inertial and Visual Measurements for RGB-D SLAM on Mobile Devices. Proceedings of the 2015 IEEE International Conference on Computer Vision Workshop, Santiago, Chile.","DOI":"10.1109\/ICCVW.2015.29"},{"key":"ref_18","first-page":"321","article-title":"Global Localization using Dead-reckoning and Kinect Sensors for Robots with Omnidirectional Mecanum Wheels","volume":"22","author":"Tsai","year":"2014","journal-title":"J. Mar. Sci. Technol."},{"key":"ref_19","doi-asserted-by":"crossref","unstructured":"Rowekamper, J., Sprunk, C., Tipaldi, G.D., Stachniss, C., Pfaff, P., and Burgard, W. (2012, January 7\u201312). On the Position Accuracy of Mobile Robot Localization based on Particle Filters Combined with Scan Matching. Proceedings of the 2012 IEEE\/RSJ International Conference on Intelligent Robots and Systems, Vilamoura, Portugal.","DOI":"10.1109\/IROS.2012.6385988"},{"key":"ref_20","doi-asserted-by":"crossref","first-page":"4","DOI":"10.20965\/ijat.2017.p0004","article-title":"\u201cIndustrie 4.0\u201d and Smart Manufacturing\u2014A Review of Research Issues and Application Examples","volume":"11","author":"Thoben","year":"2017","journal-title":"Int. J. Autom. Technol."},{"key":"ref_21","doi-asserted-by":"crossref","unstructured":"Puerto, M.J., Salle, D., Outon, J.L., Herrero, H., and Lizuain, Z. (2015, January 8\u201311). Towards a Flexible Production\u2014System Environment Server Implementation. Proceedings of the 16th International Conference on Computer as a Tool, Salamanca, Spain.","DOI":"10.1109\/EUROCON.2015.7313717"},{"key":"ref_22","doi-asserted-by":"crossref","first-page":"185","DOI":"10.1016\/S0924-4247(02)00200-5","article-title":"Modeling and Design of Novel Photo-thermo-mechanical Microactuators","volume":"101","author":"Baglio","year":"2002","journal-title":"Sens. Actuators A Phys."},{"key":"ref_23","doi-asserted-by":"crossref","first-page":"412","DOI":"10.1016\/j.procir.2016.10.068","article-title":"Mechanical Design and Control System of an Omni-directional Mobile Robot for Material Conveying","volume":"56","author":"Peng","year":"2016","journal-title":"Procedia CIRP"},{"key":"ref_24","doi-asserted-by":"crossref","first-page":"1","DOI":"10.1155\/2016\/5892784","article-title":"Design Optimization of a Mecanum Wheel to Reduce Vertical Vibrations by the Consideration of Equivalent Stiffness","volume":"2016","author":"Bae","year":"2016","journal-title":"Shock Vib."},{"key":"ref_25","unstructured":"Roh, S.G., and Lim, B. (2013, January 3\u20137). Flexible Suspension Mechanism for Stable Diving of a Differential Drive Mobile Robot. Proceedings of the 2013 IEEE\/RSJ International Conference on Intelligent Robots and Systems, Tokyo, Japan."},{"key":"ref_26","doi-asserted-by":"crossref","first-page":"105","DOI":"10.1016\/j.rcim.2014.11.005","article-title":"Localization, Obstacle Avoidance Planning and Control of Cooperative Cable Parallel Robots for Multiple Mobile Cranes","volume":"34","author":"Zi","year":"2015","journal-title":"Robot. Comput. Integr. Manuf."},{"key":"ref_27","doi-asserted-by":"crossref","first-page":"1","DOI":"10.1016\/j.mechatronics.2007.09.004","article-title":"Dynamic Modeling and Active Control of a Cable-Suspended Parallel Robot","volume":"18","author":"Zi","year":"2008","journal-title":"Mechatronics"},{"key":"ref_28","doi-asserted-by":"crossref","first-page":"196","DOI":"10.1016\/j.rcim.2017.04.002","article-title":"Design, Analysis and Control of a Winding Hybrid-Driven Cable Parallel Manipulator","volume":"48","author":"Zi","year":"2017","journal-title":"Robot. Comput. Integr. Manuf."},{"key":"ref_29","unstructured":"He\u00df, D., K\u00fcnemund, F., and R\u00f6hrig, C. (2013, January 23\u201325). Linux Based Control Framework for Mecaum Based Omnidirectional Automated Guided Vehicles. Proceedings of the World Congress on Engineering and Computer Science 2013, San Francisco, CA, USA."},{"key":"ref_30","unstructured":"Quigley, M., Gerkey, B., and Smart, W.D. (2015). Programming Robots with ROS: A Practical Introduction to the Robot Operating System, O\u2019Reilly Media."},{"key":"ref_31","unstructured":"(2017, January 01). Unified Architecture. Available online: https:\/\/opcfoundation.org\/about\/opc-technologies\/opc-ua."},{"key":"ref_32","unstructured":"(2016, December 19). Ros_Opcua_Communication. Available online: http:\/\/wiki.ros.org\/ros_opcua_communication."},{"key":"ref_33","unstructured":"Welch, G., and Bishop, G. (2001). An Introduction to the Kalman Filter, ACM. TR95-041."},{"key":"ref_34","doi-asserted-by":"crossref","unstructured":"Qian, J., Zhu, H.B., Wang, S.W., and Zeng, Y.S. (2014). Fast Reconstruction of an Unmanned Engineering Vehicle and its Application to Carrying Rocket. IET J. Eng.","DOI":"10.1049\/joe.2013.0145"},{"key":"ref_35","doi-asserted-by":"crossref","first-page":"404","DOI":"10.1007\/11744023_32","article-title":"SURF: Speeded up Robust Features","volume":"3591","author":"Bay","year":"2006","journal-title":"Lect. Notes Comput. Sci."},{"key":"ref_36","unstructured":"Mjua, M., and Lowe, D.G. (2009, January 5\u20138). Fast Approximate nearest neighbors with automatic algorithm configuration. Proceedings of the 4th International Conference on Computer Vision Theory and Applications, Lisboa, Portugal."},{"key":"ref_37","doi-asserted-by":"crossref","first-page":"1444","DOI":"10.1109\/TPAMI.2012.41","article-title":"A Robust O(n) Solution to the Perspective-n-Point Problem","volume":"34","author":"Li","year":"2012","journal-title":"IEEE Trans. Pattern Anal. Mach. Intell."},{"key":"ref_38","doi-asserted-by":"crossref","first-page":"239","DOI":"10.1109\/34.121791","article-title":"A method for registration of 3-D shapes","volume":"14","author":"Besl","year":"1992","journal-title":"IEEE Trans. Pattern Anal. Mach. Intell."},{"key":"ref_39","unstructured":"Kummerle, R., Grisetti, G., Strasdat, H., Konolige, K., and Burgard, W. (2011, January 9\u201313). G2o: A General Framework for Graph Optimization. Proceedings of the 2011 IEEE\/RSJ International Conference on Robotics and Automation, Shanghai, China."}],"container-title":["Sensors"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.mdpi.com\/1424-8220\/17\/9\/2073\/pdf","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,10,11]],"date-time":"2025-10-11T18:44:34Z","timestamp":1760208274000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.mdpi.com\/1424-8220\/17\/9\/2073"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2017,9,10]]},"references-count":39,"journal-issue":{"issue":"9","published-online":{"date-parts":[[2017,9]]}},"alternative-id":["s17092073"],"URL":"https:\/\/doi.org\/10.3390\/s17092073","relation":{},"ISSN":["1424-8220"],"issn-type":[{"value":"1424-8220","type":"electronic"}],"subject":[],"published":{"date-parts":[[2017,9,10]]}}}