The omni-directional wheeled mobile robot(OWMR) has been extensively researched in recent years because of having all 3 DOF on levelsh,igh flexibility and maneuverability etc.

• 全方位移动机器人由于具有平面上全部三个自由度、较高灵活性和机动性等优点,近年来得到了广泛的研究。