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

Park, Jung-Je; Kim, Sudae; Kim, Jungmin; Kim, Sungshin

doi:10.1109/iccas.2010.5670241

Cited by 20 publications

(1 citation statement)

References 9 publications

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“…There are three choices (see Fig. 5) available for implementing omnidirectional platforms: swerve, holonomic and Mecanum drive (Tatsuro et al 2018;Park et al 2010;Shabalina et al 2018). Swerve drive is a 4-wheel drive, where each wheel has independently steered driving modules.…”

Section: Omnidirectional Mobile Platform Creationmentioning

confidence: 99%

Two-Vehicle Coordination System for Omnidirectional Transportation Based on Image Processing and Deviation Prediction

Song

et al. 2021

J Control Autom Electr Syst

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Omnidirectional mobile platform is essential due to its excellent mobility and versatility. With the development of the manufacturing industry, how to transport oversized or overweight goods has become a new problem. Compared with manufacturing omnidirectional mobile platforms with different specifications, it is more cost-effective and flexible to coordinate two non-physically connected omnidirectional platforms to transport overweight and oversized cargo. The roughness of the actual deployment environment and the mechanical deflection between the two vehicles have a significant impact on the normal operation of the system. This paper combines mechanical wheels, image processing algorithms and collaboration algorithms to create a novel and practical split-type omnidirectional mobile platform based on image deviation prediction for transporting oversized or overweighted goods. The proposed system collects raw measurements from a distance sensor and an image sensor, transmits them to a central processing unit through a wireless communication module and calculates and predicts the relative deflection between the two vehicles based on our derived mathematical model. This information is then fed to a Kalman filter and PID control algorithm to coordinate the two vehicles. The effectiveness and performance of our system have been thoroughly tested, which has already been applied in a bullet train production line.

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Section: Omnidirectional Mobile Platform Creationmentioning

confidence: 99%