## 1 Introduction  
Mobile robotics has become one of the most expansive points of research nowadays [1]. They are usually used to substitute humans in different life activities, either indoors or outdoors. They are already widely used in inspection tasks, transportation, surveillance, explorations, museum guides, medical services, and entertainment [2]. Generally, mobile robotics is one of the promising technologies in the global market. Recent research in mobile robots is concerned with Autonomous wheeled mobile robots (AWMRs). They are a vehicle that uses onboard sensors and processors to autonomously move materials without the need for physical guides or markers. It learns its environment, remembers its location, and dynamically plans its path from one waypoint (a location or destination within the environment) to another [3]. Several technological fields of research are involved in developing autonomous wheeled mobile robots like locomotion, navigation, perception, and cognition. The study of locomotion for AWMRs includes the study of the robot's way of movement and its mechanical design. Also, it relies but also on technical criteria such as maneuverability, controllability, terrain conditions, stability, etc. The mobile robot may have different types of wheels. Their combined actuation makes different motion configurations. The two main motion platforms are either holonomic or non-holonomic platforms. Most AWMRs have Ackermann steering or skid steering configuration. They are indeed non-holonomic platforms that provide simple mechanical motions. But they have limited degrees of freedom (DoFs), and they are often constrained by the mechanical coupling between the angular and the linear motions [4]. On the other hand, holonomic platforms can move in any direction independent of their orientation. An example of non-holonomic configurations is omnidirectional wheels. They allow a robot to drive on a straight path from a given location to another without the need to rotate first. Moreover, translation movement along any desired path can be combined with a rotation so that a robot arrives at its destination at the correct angle faster than a non-holonomic robot does. These capabilities make the robot highly maneuverable, which is very helpful in both indoor and outdoor applications, in particular, in narrow spaces and crowded environments [5]. Additionally, the number of robot wheels can greatly affect omnidirectional platforms. The four-wheel configuration is generally preferred over the three-wheel configuration due to the following reasons [6;7]:  
1. Easier to control motors and implement path-tracking algorithms;
2. The body weight is distributed over four wheels. So, the robot can accelerate faster and greater speed is achieved because slippage is minimum;
3. The robot body is more stable during turns and in slopes during rotations. Several AWMRs have used omnidirectional wheels in industry and logistics. [PERSON] et al. have presented the design of OmniMan [8], which is a mobile manipulator for human-robot collaboration. It consists of an omnidirectional mobile platform and a lightweight robotic arm (Universal Robot UR5) which could help human workers efficiently. [PERSON] et al. have introduced a mecanum omnidirectional mobile platform for inspection in petroleum, chemical, and other hazardous environments [9]. To verify the proposed design, the geometrical modeling of the mecanum wheel roller and its finite element simulation analysis was carried out. Also, a suspension structure was added to the robot to reduce bumps and vibrations. Another example of using Omni wheeled mobile robot was presented by [PERSON] et al. [10]. The MKR (Muratec Keio Robot) was developed, and it was used as a mobile transfer robot system for hospital applications. It had a wagon truck to transfer luggage, important specimens, and other materials. [PERSON] et al. introduced the Mobile Collaborative Robotic Assistant (MCCA) [11].