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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.

Entropy has been a common index to quantify the complexity of time series in a variety of fields. Here, we introduce an increment entropy to measure the complexity of time series in which each increment is mapped onto a word of two letters, one corresponding to the sign and the other corresponding to the magnitude. Increment entropy (IncrEn) is defined as the Shannon entropy of the words. Simulations on synthetic data and tests on epileptic electroencephalogram (EEG) signals demonstrate its ability of detecting abrupt changes, regardless of the energetic (e.g., spikes or bursts) or structural changes. The computation of IncrEn does not make any assumption on time series, and it can be applicable to arbitrary real-world data.

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