Structural Design and Control of Swerve Drive Mechanism for Mobile Robot

Swerve Drive Robot is a type of robot where each wheel does not depend on each turn in any direction and can move in any position (forward, backward, left, right and around itself).The robots studied are mobile robots, traction and mobility platforms [1], so there are a number of issues related to movement control, balance and mobility. The control of this robot depends on the wheel speed and the rotational speed of each wheel, so in order for the robot to be mobile, there must be basic equations and control procedures [2].