Comprehensive Development and Control of a Path-Trackable Mecanum-Wheeled Robot

摘要

This paper presents an intuitively straightforward yet comprehensive approach in developing and controlling a Mecanum-wheeled robot (MWR), with decent path tracking performance by using a simple controller as an end objective. The development starts by implementing two computer ball mice as sensors to realize a simple localization that is immune toward wheel slippage. Then, a linearization method by using open-loop step responses is carried out to linearize the actuations of the robot. Open-loop step response is handy, as it directly portrays the non-linearity of the system, thus achieving effective counteraction. Then, instead of creating a lookup table, polynomial regression is used to generate an equation in which the equation later represents an element of the linearizer. Next, a linear angle-to-gain (LA-G) method is introduced for path tracking control. The method is as easy as just linearly maps the summation of two angles-the angle between immediate and desired positions and the MWR's heading angle, into gains to control the wheels. Unlike the conventional control method which involves inverse kinematics, the LA-G method is directly a displacement-controlled approach and does not require the knowledge of parametric values, such as the robot's dimensions and wheel radius. Finally, all the methods are implemented, and the MWR experimentally demonstrates successfully tracking various paths, by merely using proportional controllers.