Fig. 1. Mecanum wheel
Fig. 2. Driving principles of robot with mecanum wheel
Fig. 3. The orientation estimation kalman filter algorithm
Fig. 4. The velocity estimation kalman filter algorithm
Fig. 5. Simulation results(Direction : Side)
Fig. 6. Simulation results(Direction : Straight)
Fig. 7. Simulation results(Direction : Diagonal)
Table 1. Simulation results
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