Abstract
This paper addresses trajectory tracking of an omni-directional mobile robot (OMR) with three mecanum wheels and a fully symmetrical configuration. The omni-directional wheeled robot outperforms the non-holonomic wheeled robot due to its ability to rotate and translate independently and simultaneously. A kinematics model of the OMR is established and a model predictive control (MPC) algorithm with control and system constraints is designed to achieve point stabilization and trajectory tracking. Simulation results validate the accuracy of the established kinematics model and the effectiveness of the proposed MPC controller.
Highlights
Industrial automation is a prerequisite for intelligent manufacturing, and mobile robots represent a core component of industrial automation systems
The model predictive control (MPC) algorithm is the most common control method used for trajectory tracking of the omni-directional mobile robot (OMR)
The range of motion for the OMR is set to (−10 m, 10 m) and it serves as the state constraint; The rotation velocity of each mecanum wheel is set to (−2 m/s, 2 m/s), which is treated as the input constraint
Summary
Industrial automation is a prerequisite for intelligent manufacturing, and mobile robots represent a core component of industrial automation systems. Compared with the traditional nonholonomic dual-drive wheeled robot, the omni-directional mobile robot is able to synchronize steering and linear motion in any direction This advantage improves the flexibility of the robot greatly in order to achieve fast target tracking and obstacle avoidance, and provides more references for robot motion control methods. The model predictive control (MPC) algorithm is the most common control method used for trajectory tracking of the OMR. In [19], a novel visual servo-based model predictive control method was proposed to steer a wheeled mobile robot moving in a polar coordinate. The kinematic analysis of the OMR is conducted and an MPC algorithm for point stabilization and trajectory tracking is proposed.
Sign-in/Register to view highlights & summary Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
