omniwheel drive

[tildezero]

https://google.com/search?q=omni+wheel+drive

https://gitlab.com/aruw/controls/aruw-mcb/-/blob/develop/aruw-mcb-project/src/aruwsrc/control/chassis/holonomic_chassis_subsystem.cpp?ref_type=heads

https://gitlab.com/aruw/controls/aruw-mcb/-/blob/develop/aruw-mcb-project/src/aruwsrc/control/chassis/holonomic_chassis_subsystem.hpp?ref_type=heads

[RavenRandomz]

https://eprints.undip.ac.id/79371/1/C14-Development_of_Omni-Wheeled_Mobile_Robot_Based-on_Inverse_Kinematics_and_Odometry.pdf