Driving control of mobile robot with Mecanum wheel using fuzzy inference system

摘要

This paper presents a driving control of omnidirectional mobile robot with Mecanum wheel. The omnidirectional driving is useful to drive in narrow space. There are various ways to implement the omnidirectional driving. The Mecanum wheel is one ways for omnidirectional driving. However, it has weaknesses which are difficult to calculate kinematics and have inaccurate driving by slip. If slip occurred, Mecanum wheeled robot moves in unexpected direction. Therefore, we propose the driving control method using fuzzy inference system. By comparing to two rotation angles, we can know whether slip occurred. One is measured rotation angle and the other is calculated by kinematics. If there is a difference between two angles, slip occurred. Then each wheel is controlled by fuzzy inference system to correct orientation. We analyze performance of the proposed driving control method by simulation.