Motion Stabilization Control of an Omni-Directional Mobile Robot with Four Wheels

Abstract

Wheeled mobile robots represent an important part in the industrial automation and social area. In recent years, intensive research in constructing controllers for wheeled mobile robots is being done due to the increase in the requirements for the motion control systems. Omni-directional mobile robots are highly manoeuvrable, so they can easily move in narrow spaces. The paper investigates a dynamic model of a mobile robot with four mecanum wheels such that the geometric center of the platform and the mass center of the robot do not coincide. The need for research in this area arises in many industrial applications, for example, in the transportation of various goods. The paper proposes a controller for the trajectory tracking of the robot and for the point stabilization. The peculiarities of the proposed control law are that it is applied in the event of sliding friction and delay in the feedback circuit. The numerical simulation illustrates the advantages of the proposed control law.