Kinematic Model of a Four Mecanum Wheeled Mobile Robot
نویسندگان
چکیده
منابع مشابه
Mechatronics Design of a Mecanum Wheeled Mobile Robot
The Mecanum wheel was designed in Sweden in 1975. Using four of these wheels provides omni-directional movement for a vehicle without needing a conventional steering system (Muir & Neumann, 1990; Dickerson & Lapin, 1991; Braunl, 1999; Navy, USA, 2002 and Lunze & Schmid, 2002). The wheel itself consists of a hub carrying a number of free moving rollers angled at 45° about the hub's circumference...
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Mobile robots with omni-directional wheels can generate instant omni-directional motion including lateral motion without any extra space for changing the direction of the body. So, they are capable of traveling in every direction under any orientation to approach their destinations even in narrow aisles or tight areas. Especially, if a construction tool is combined to the mobile robot, it can b...
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This paper deals with the structure of the kinematic models of wheeled mobile robots (WMR). A wheeled mobile robot here considered as a planer rigid body that rides on an arbitrary number of wheels. In this paper it is shown that, for a large class of possible configurations of wheels, five types of configurations can be done namely i) fixed standard wheels, ii) steerable standard wheels, iii) ...
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Given an omni-directional mobile platform using four Mecanum wheels, it requires further a capability being programmed to achieve various motion behaviours and intelligence. This paper describes an undergraduate solution to the problem involving both hardware and software developments. With a path following behaviour as the aim, the research focused mainly upon sensors for dead-reckoning, motor...
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This paper presents a nonlinear model-based predictive controller (NMPC) for trajectory tracking of a four-wheeled omnidirectional mobile robot. Methods of numerical optimization to perform real-time nonlinear minimization of the cost function are used. The cost function penalizes the robot’s position error, the robot’s orientation angle error, and the control effort. Experimental results of th...
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ژورنال
عنوان ژورنال: International Journal of Computer Applications
سال: 2015
ISSN: 0975-8887
DOI: 10.5120/19804-1586