Behavior-Based Control of Mecanum Four-Wheeled Omnidirectional Robot

Document Type : Research Article

Authors

1 Tarbiat Modares University, Mechanical Engineering

2 تربیت مدرس-مهندسی مکانیک

Abstract

In this paper, a four-wheeled omnidirectional robot of the mecanum type is investigated. In this study, the kinematics and dynamics of the robot have been analyzed, emphasizing the influence of parameters and models on equations. The robot-based behavior control is carried out by applying kinematic equations. This method of control will enable the robot to reach its desired position despite obstacles. This method of control will enable the robot to reach its desired position despite obstacles. The work done in the robot control method is the main contribution of this study. This control method uses a behavior-based algorithm to guide a robot toward a target point by bypassing obstacles and selecting appropriate behaviors. We are interested in investigating the rotational motion of this robot, independent of its linear motion since it has three degrees of freedom on the plane. Therefore, during the movement of the robot and reaching the goal, the robot should always be oriented towards a moving point separate from the target point. The results show that this method gives a good estimate of the robot speed and the speed of the robot wheels and their torque.

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References

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Amirkabir Journal of Mechanical Engineering
Volume 54, Issue 2
May 2022
Pages 309-332

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