Research Papers

Development of a Control Model for a Four Wheel Mecanum Vehicle

[+] Author and Article Information
M. de Villiers

 Mechatronics and Micro-manufacturing (MMM), Council for Scientific and Industrial Research (CSIR), P. O. Box 395, Pretoria, 0001, Republic of South Africamfdevilliers@csir.co.za

N. S. Tlale

 Mobile Intelligent Autonomous Systems (MIAS), Council for Scientific and Industrial Research (CSIR), Pretoria, South Africantlale@csir.co.za

J. Dyn. Sys., Meas., Control 134(1), 011007 (Dec 02, 2011) (6 pages) doi:10.1115/1.4005273 History: Received May 17, 2010; Revised July 27, 2011; Published December 02, 2011; Online December 02, 2011

In this paper, a refined control model for a Mecanum-wheeled mobile robot is developed and presented. Available control models in literature for Mecanum-wheeled mobile robots are based on a simplification which defines the contact point of the wheel on the ground as the point in the center of the wheel, which does not vary. This limits the smoothness of motion of a mobile robot employing these wheels and impacts the efficiency of locomotion of mobile robots using Mecanum wheels. The control model proposed in this paper accounts for the fact that the contact point in fact changes position down the axle of the wheel as the angle roller moves on the ground. The developed control model is verified with experimental results. Using the refined model, control of Mecanum-wheeled mobile robot is made more predictable and accurate.

Copyright © 2012 by American Society of Mechanical Engineers
Topics: Vehicles , Wheels
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Figure 1

Mecanum wheel with rollers

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Figure 2

Forces acting on a Mecanum wheel vehicle

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Figure 3

Wheel displacement vectors

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Figure 4

Wheel velocity vectors

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Figure 5

Factor by which the radius of the wheel changes as the wheel contact point is moved from the edge of the wheel to the center of the wheel

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Figure 6

Vehicle and ICR geometry

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Figure 7

Mecanum wheel test platform

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Figure 8

Theoretical wheel speeds

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Figure 10

Benchmark locus

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Figure 11

Laser scanner results



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