Abstract: The Omni wheeled robot consists of three Omni-wheels which are mounted at 120 degrees apart. These three wheels mounted on DC motors which will be driven by relay motor drivers that are Omni-directional motion of the robot possible with utmost ease. This robot is controlled by using mobile phone which has DTMF (Dual Tone Multiple Frequency) decoder has been provided on the robot and also this robot can be controlled by using a remote controller with wired facility. A three wheel drive with Omni-directional wheel has been tried with success, and was implemented on fast moving autonomous mobile robots. This paper deals with the DTMF mobile controller of such mobile platform, it describes the advantages and also the type of control used. Vision AVR which is a C based compiler is used for coding. The robot chassis is manufactured out of acrylic and aluminum.

Keywords: Omni Wheel, DTMF (Dual tone multiplefrequency) decoder, ATmega128, Relay motor.