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Originally Posted by AllenGregoryIV
One thing to note about the plus configuration is that you will travel slower in the robots orthogonal directions then you would traveling at 45 degree angles.
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yes
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Omni wheeled holonomic robots gain velocity when all 4 wheels are powering them because each wheel actually has a velocity vector perpendicular to it's normal velocity.
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not sure I follow that
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The whole robot is able to travel faster than any one wheel velocity. In a perfect world a 4 wheeled omni wheel holonomic platform with wheels 90 degrees apart will travel ~1.4 times faster than wheel velocity when traveling 45 degrees to any wheel.
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I think you need explain that more clearly. The robot will go at its maximum speed in the direction any pair is going in for the omni@45 arrangement. And .7071 of that speed in the regular front-back side-side directions. The ratio is 1.4, but you give the impression that it will go faster than its wheels are turning, which is impossible in any direction.