Realization and Control of a Mecanum Wheeled Robot Based on a Kinematic Model

Tich, Abdelghafour Slimane Tich; Inel, Fouad; Carbone, Giuseppe

doi:10.1007/978-3-031-10776-4_77

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Cited by 3 publications

References 11 publications

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Four Wheeled Humanoid Second-Order Cascade Control of Holonomic Trajectories

Torres-Martínez,

Martínez-García,

Lavrenov

et al. 2023

Studies in Computational Intelligence

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Four Wheeled Humanoid Second-Order Cascade Control of Holonomic Trajectories

Torres-Martínez,

Martínez-García,

Lavrenov

et al. 2023

Studies in Computational Intelligence

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Multi-aspect Optimal Sliding Mode Controller for a Mecanum Wheeled Robot

Allahyari,

Rahmanei,

Moosavian

2023

2023 11th RSI International Conference on Robotics and Mechatronics (ICRoM)

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Realization and Control of a Mobile Robot based on a Dynamic Model with the Implementation of Artificial Intelligence

Tich

Inel²,

Khadem³

2022

Wseas Transactions on Systems

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In this paper, a mobile robot (tricycle robot) and its kinematic and dynamic model are presented. Moreover, its simulation and model control are derived. For a mobile robot to be autonomous, it must perform command tasks and perceive the environment. In this context, navigation plays an important role in the interaction of the robot with its environment. It consists in the determination of possible trajectories by the robot to follow a predefined trajectory. To accomplish this task, our approach relies on the dynamic motion of the robot to generate admissible trajectories. The reference trajectory is first constructed based on a predefined trajectory. To eliminate the navigation problem, an optimization problem with constraints, it is necessary to reduce the difference between the predicted trajectory of the robot and the desired trajectory. Moreover, it is possible to control the behaviour of the robot by using a trajectory parameterized with the dynamic model and its control. Finally, the display of experimental results up to the implementation of the object detection.

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Realization and Control of a Mecanum Wheeled Robot Based on a Kinematic Model

Cited by 3 publications

References 11 publications

Four Wheeled Humanoid Second-Order Cascade Control of Holonomic Trajectories

Four Wheeled Humanoid Second-Order Cascade Control of Holonomic Trajectories

Multi-aspect Optimal Sliding Mode Controller for a Mecanum Wheeled Robot

Realization and Control of a Mobile Robot based on a Dynamic Model with the Implementation of Artificial Intelligence

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