Trajectory reconfiguration for time delay reduction in the case of unexpected obstacles: application to 4-mecanum wheeled mobile robots (4-MWMR) for industrial purposes

Theoretical and experimental investigation of variable contact forces on the rollers of a mecanum wheeled mobile robot

“…Although the control actions of mecanum wheeled vehicles are a little hard compared to the vehicles/robots that use tracks or custom wheels, they are preferred for industrial applications since mecanum wheels have rollers positioned at an angle around the circumference of the wheel which allows for omnidirectional motion. This gives the ability to the vehicle that the orientation of the vehicle is not required to change to perform a circular motion and/or a sharp turn (Bayar and Hambarci (2023); Mellah et al (2020)). This capability grants flexibility and high mobility in complex and crowded factory areas.…”

An approach for numerical simulating and processing of measured electrical signals from board sensors installed on wheeled electro-mechanical platforms

“…The wheeled platforms are widely used now for different industrial [1], agricultural [2][3][4] and military [5] purposes, for surveying the nuclear hazard [6] and for others. Due to these circumstances, all different researches directed to development, improvement and implementation of different kinds wheeled platforms for different purposes are in current interests now, and a lot of publications like [1][2][3][4][5][6] confirm this.…”

“…One of the principal trends in developing the wheeled platforms is in implementing the partial and fully automation allowing to exclude the staff from executing labour intensive, hazard, monotonous and not creative operating tasks [1][2][3][4][5][6]. It is naturally, the automation of wheeled platforms is significantly restricted by opportunities of instrumental measures for estimating their motion state and their interactions with an environment necessary to define the required controls.…”

“…It is naturally, the automation of wheeled platforms is significantly restricted by opportunities of instrumental measures for estimating their motion state and their interactions with an environment necessary to define the required controls. Really, a lot of the modern researches are about different kinds problems dealt about controlling, measuring and defining the motion state of the wheeled platforms including the general autonomous navigation and motion safety [3,7,8], the path's trajectory [1,9], the current position and the attitude [4,10] as well as by the velocity [8] and the acceleration [11]. Besides, there are a lot of researches dealt with defining the mechanical interactions between the wheels and the soils [12,13] as well as with estimating the aerodynamic [14] and control forces [15].…”

“…Numerical processing of the measured signals is based on using the mathematical models providing the relations between the directly measured signals from the board sensors and the wheeled platforms parameters, so these mathematical models must having all necessary properties agreed with their using purposes, and constructing such mathematical models can be the difficult problem in general. Although, the mathematical models are widely discussed for numeric processing of measuring signals from the board sensors installed on wheeled platforms, but the most researches dealt with the particular kinds of mathematical models, measurements and their processing like in [1,[8][9][10][15][16][17][18][19][20]. At the same time, there are no the conventional generalized approaches of mathematical modelling fit for the numeric processing of the measurement results.…”