This research has mainly purpose to study and construct mobile robot for using in hospital that it needs mobile robot can move in small and narrow spaces. So the Mecanum wheel drive system is used in this research.The mobile robot is driven by 4 Mecanum wheels and parallel port communication is conducted to control motors independently. The classical PID algorithm is used to reduce the position error. The GUI application is developed to control mobile robot. In experiment, mobile robot is run in square shape both clockwise and counter-clockwise direction to find the position error between the final reference and the actual final position of mobile robot by movement.

mobile robot, Mecanum wheel, PID algorithm.