I. Introduction
The positioning accuracy of the robot has a great influence on the performance of fulfilling tasks [1]–[4]. At present, the traditional differential robot positioning performance is ineffective due to its larger turning radius. However, the Omni-directional mobile robot can overcome this defect well. There are many different kinds of Omnidirectional mobile robots have been researched [5]–[6]. Qian [7] designed and analyzed Omni-Directional Mobile Robot to transport materials flexibly and smoothly. A global extremum seeking algorithm was proposed for the omnidirectional mobile robot to find the global extremum point [8].