Mathematical Model of Movement of a Mobile Robot with Omnidirectional Wheels
https://doi.org/10.35596/1729-7648-2024-22-1-82-90
Abstract
The article discusses the issue of controlling a four-wheeled mobile robot with omnidirectional wheels
of the mecanum type. An analysis of the rotational motion of the omnidirectional mecanum wheel was carried
out, based on its kinematics. For a specific robot with certain overall parameters, a graph of changes in the radius
of the mecanum wheel depending on the angle of its rotation was constructed. Kinematic and dynamic models
of a mobile four-wheeled robot have been compiled, taking into account its geometric characteristics. The presented expressions are a mathematical description of the behavior of a mobile robot in statics and dynamics. Based
on the obtained models, the principles of operation of the motion control system for a four-wheeled mobile robot
on omnidirectional wheels of the mecanum type are formed.
About the Authors
А. А. Radkevich
Belarusian National Technical University
Belarus
Belarus
Master’s Student at the Electric Drive and Automation of Industrial Plants and Technological Complexes Department
Minsk
Wu Xinxin
Belarusian National Technical University
Belarus
Belarus
Postgraduate at the Electric Drive and Automation of Industrial Plants and Technological Complexes Department
Minsk
А. А. Velchenko
Belarusian National Technical University
Belarus
Belarus
Сand. of Sci., Associate Professor, Associate Professor of Electric Drive and Automation of Industrial Plants and Technological Complexes Department
Minsk
S. A. Pauliukavets
Belarusian National Technical University
Belarus
Belarus
Pauliukavets Siarhei Anatol’evich, Сand. of Sci., Associate Professor, Head of Electric Drive and Automation of Industrial Plants and Technological Complexes Department
220013, Minsk, B. Khmelnitsky St., 9
Tel.: +375 17 293-95-61
References
1. Kilin A. A., Bobykin A. D. (2014) Control of a Cart with Omni-Wheels on a Plane. Nonlinear Dynamics. 10 (4), 473–481 (in Russian).
2. Pauliukavets S. A., Velchenko A. A., Wu Xinxin, Radkevich A. A., Sauko N. O. (2023) On the Issue of Controlling a Mobile Robot with Omnidirectional Wheels. BIG DATA and Advanced Analytics: Collection of Scientific Articles of the IX International Scientific and Practical Conference, Minsk, 17–18 May, Part 2. Minsk, Belarusian State University of Informatics and Radioelectronics. 94–102 (in Russian).
3. Najim H. A., Kareem I. S., Abdul-Lateef W. E. (2023) Omnidirectional Mobil Robot with Navigation Using SLAM. Engineering and Technology Journal. 41 (1), 196–202.
4. Diveev A. I., Shmalko E. Yu. (2022) Synthesized Control for Mecanum Robot. Proceedings of the International Symposium Reliability and Quality. 1, 27–29 (in Russian).
5. Shmalko E. Yu., Serebrenny V. V. (2022) Application of Machine Learning Methods for Calculating Synthesized Optimal Control of a Mobile Robot. Extreme Robotics: Proceedings of the 33rd International Scientific and Technical Conference, Sept. 29–30. St. Petersburg, Publishing House Central Research Institute of RTK. 340–347 (in Russian).
6. Izyumov A. A., Khabibulina N. Yu., Shurygin Yu. A. (2020) Control of the Movement of a Wheeled Mobile Robot with a Manipulator Along a Curved Trajectory in the Presence of Obstacles. Electronic Means and Control Systems: Materials of Reports of the International Scientific and Practical Conference, Minsk, Nov. 18–20, Part 2. Tomsk, Tomsk State University of Control Systems and Radioelectronics. 197–200 (in Russian).
7. Moreno-Caireta I., Celaya E., Ros L. (2021) Model Predictive Control for a Mecanum-Wheeled Robot Navigating Among Obstacles. IFAC-PapersOnLine. 54 (6), 119–125.
8. Alshorman A., Alshorman O., Irfan M., Glowacz A., Muhammad F., Caesarendra W. (2020) Fuzzy-Based Fault-Tolerant Control for Omnidirectional Mobile Robot. Machines. 8 (3).
9. Galati R., Mantriota G., Reina G. (2022) Adaptive Heading Correction for an Industrial Heavy-Duty Omnidirectional Robot. Scientific Reports. 12.
10. Li Y., Dai S., Zhao L., Yan X., Shi Y. (2019) Topological Design Methods for Mecanum Wheel Configurations of an Omnidirectional Mobile Robot. Symmetry. 11 (10).
Review
For citations:
Radkevich А.А., Xinxin W., Velchenko А.А., Pauliukavets S.A. Mathematical Model of Movement of a Mobile Robot with Omnidirectional Wheels. Doklady BGUIR. 2024;22(1):82-90. (In Russ.) https://doi.org/10.35596/1729-7648-2024-22-1-82-90
Views: 176
Email this article 