FOUR WHEEL OMNI DIRECTIONAL ROBOT
UpperControl- It consists of : Localization algorithm - is such that it computes the instantaneous pose of the robot independent of it's orientation. Trajectory Planning - reliable and robust methods involving movement with any orientation, involving control systems. Tracing of different curves - line, sine wave, circle, arcs. Actuation of major mechanisms
LowerControl- It deals with the inverse kinematics of the robot and a PID controller is used to maintain the required RPM of each wheel.
Ps2_send- It receives the PS2 data and sends it to the UpperControl for desired manual operations.