Design and development of an autonomous omni-directional mobile robot with Mecanum wheels

Tătar, Mihai Olimpiu; Popovici, Cătălin George; Mândru, Dan; Ardelean, I.; Pleşa, Alin

doi:10.1109/aqtr.2014.6857869

Cited by 32 publications

(13 citation statements)

References 14 publications

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“…In terms of the omniwheel, due to the presence of rollers, the contact region is a point of contact. This is also the reason why the omniwheel experiences slippage more easily than a conventional wheel [29][30][31]. Nevertheless, due to the point of contact, the omniwheel can then be modelled using a sphere in V-REP.…”

Section: Environment Setupmentioning

confidence: 99%

Design and Control System Setup of an E-Pattern Omniwheeled Cellular Conveyor

2021

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The addition of omnidirectional capability and modularization to conveyor systems is an exciting and trending topic in current conveyor research. The implementation of omnidirectional modular conveyors is foreseen as mandatory in the future of conveyor technologies due to their flexibility and efficiency. In this paper, an E-pattern omniwheeled cellular conveyor (EOCC) is first introduced. Camera and image processing techniques are utilized to achieve a centralized system, which is more robust than conventional decentralized systems. In order for cartons to maneuver across the EOCC, a unique method for activation of the actuators is subsequently designed. Next, the nominal characteristic of the EOCC is analyzed based on the step responses, which then inspire the proposal of four simple controllers, namely the P–P–P–P controller, tTS + P–P–P–P controller, P–P–PD–PD controller, and tTS + P–P–PD–PD controller (P for proportional, D for derivative and tTS for time-shifting), which are used to evaluate the tracking performance of the EOCC in diagonal-shaped, ∞-shaped (horizontal lemniscus), and 8-shaped (vertical lemniscus) trajectories. The results show that there is no clear winner among the controllers, with each having its own advantages and disadvantages. Nevertheless, such findings provide clearer insight into the EOCC, which is vital for future works. After all, the introduction of the EOCC system in this paper is also anticipated to elevate the benchmarks and competitiveness in the current field of modern conveyor technologies.

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Section: Environment Setupmentioning

confidence: 99%

Design and Control System Setup of an E-Pattern Omniwheeled Cellular Conveyor

2021

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“…The inverse kinematics equation [58,59] of the system is obtained by kinematics analysis, assuming that there is no slip between the roll and the ground and that the platform moves in the plane:Vω=bold-italicJ(α)·VO where, Vω=[ω1ω2ω3ω4]T are the speeds of the four wheels. VO=[vxvzωO]T are the velocities of the robot body in the world coordinate system.…”

Section: Simulation Based On Unity3dmentioning

confidence: 99%

Navigation Simulation of a Mecanum Wheel Mobile Robot Based on an Improved A* Algorithm in Unity3D

Dai

Shi

et al. 2019

Sensors

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Computer simulation is an effective means for the research of robot navigation algorithms. In order to implement real-time, three-dimensional, and visual navigation algorithm simulation, a method of algorithm simulation based on secondary development of Unity3D is proposed. With this method, a virtual robot prototype can be created quickly with the imported 3D robot model, virtual joints, and virtual sensors, and then the navigation simulation can be carried out using the virtual prototype with the algorithm script in the virtual environment. Firstly, the scripts of the virtual revolute joint, virtual LiDAR sensors, and terrain environment are written. Secondly, the A* algorithm is improved for navigation in unknown 3D space. Thirdly, taking the Mecanum wheel mobile robot as an example, the 3D robot model is imported into Unity3D, and the virtual joint, sensor, and navigation algorithm scripts are added to the model. Then, the navigation is simulated in static and dynamic environments using a virtual prototype. Finally, the navigation tests of the physical robot are carried out in the physical environment, and the test trajectory is compared with the simulation trajectory. The simulation and test results validate the algorithm simulation method based on the redevelopment of Unity3d, showing that it is feasible, efficient, and flexible.

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“…The trajectory test is done by giving the robot some trajectories that needs to be followed by the mobile robot. The movement process can be determined by using an inverse kinematics equations on equations (5). By setting the speed vectors value (Vx, Vy, and ω) or the (x, y) desired coordinates, the angular speed and the directions from each motors can be produced.…”

Section: Trajectory Testmentioning

confidence: 99%

Development of Omni-Wheeled Mobile Robot Based-on Inverse Kinematics and Odometry

Sofwan

Mulyana

Afrisal

et al. 2019

2019 6th International Conference on Information Technology, Computer and Electrical Engineering (ICITACEE)

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This paper presents the development of an omniwheeled mobile robot based on inverse kinematics and odometry for local and indoor navigation purposes, such as for automatic warehousing in industry or healthcare environment. The robot uses four-wheeled diagonal configuration to conform directional angles of 1 =45°, 2=135°, 3=225°, and 4=315°. Inverse kinematics is utilized to drive the robot to a point with specific trajectory and heading angle. Internal wheeledencoders mounted in each DC-motors are used to read the angular speed and position. This research utilizes odometry technique to estimate the robot's position relative to the initial position. In order to develop a more precise odometry result, we combine the use of wheeled-encoders and an IMU. In order to maintain robot's position relative to the desired position, a PID control is applied to the algorithm. The result of the tests show that the developed omni-wheeled mobile robot is capable of performing locomotion to the desired position and to follow a controlled trajectory by maintaining a minimum error relative to the referenced trajectory.

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Design and development of an autonomous omni-directional mobile robot with Mecanum wheels

Cited by 32 publications

References 14 publications

Design and Control System Setup of an E-Pattern Omniwheeled Cellular Conveyor

Design and Control System Setup of an E-Pattern Omniwheeled Cellular Conveyor

Navigation Simulation of a Mecanum Wheel Mobile Robot Based on an Improved A* Algorithm in Unity3D

Development of Omni-Wheeled Mobile Robot Based-on Inverse Kinematics and Odometry

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