Trajectory and heading tracking of a mecanum wheeled robot using fuzzy logic control

Abstract

This paper presents trajectory tracking and heading adjustment systems of a Mecanum wheel robot using fuzzy logic controller (FLC) and inertia measurement unit (IMU) sensor. It is known that when a Mecanum wheel robot moves, its wheels may slip due to various floor conditions. During such a slip condition, the exact position and orientation of the robot often deviate from that which was intended. In order to reduce the size of this deviation, the Mecanum wheel was equipped with an IMU sensor which measures the orientation (heading) of the Mecanum wheel robot. The implementation of the IMU sensor as a heading sensor usually achieved using a complementary filterThe FLC, on the other hand, is used to force the Mecanum wheel robot to follow a given trajectory with minimum heading deviation. As a result, the FLC system and the IMU sensor provide a robust navigation scheme for Mecanum wheel robot without the need for external references such as beacons or visual markers. The implementation of our approach on the Mecanum wheel robot was achieved using embedded microcontroller for motion control and information acquisition. The developed FLC system was also deployed with a friendly graphical user interface which allows for the adjustment of fuzzification methods.