TY - GEN
T1 - Current research status of omnidirectional mobile robots with four mecanum wheels tracking based on sliding mode control
AU - Xu, Hao
AU - Yu, Dengxiu
AU - Wang, Qiuyue
AU - Qi, Pan
AU - Lu, Gang
N1 - Publisher Copyright:
© 2019 IEEE.
PY - 2019/11
Y1 - 2019/11
N2 - This paper introduces the current research status of sliding mode control (SMC) in omnidirectional mobile robot control, and gives some researches we have done recently, as well as our researches in future work. Some researches about trajectory tracking of omnidirectional mobile robots, which are driven by using SMC, are summarized. The advantages and disadvantages in previous researches are analyzed. The kinematics and dynamics of omnidirectional mobile robots with four mecanum wheels (OMRFMW) are established. Based on the kinematics and dynamics models, the control law of OMRFMW is put forward to realize trajectory tracking. Then, stability of the proposed control strategy is analyzed. Simulations of the proposed control strategy for OMRFMW are carried out. The simulation results show that the proposed strategy performs well and has good tracking performance.
AB - This paper introduces the current research status of sliding mode control (SMC) in omnidirectional mobile robot control, and gives some researches we have done recently, as well as our researches in future work. Some researches about trajectory tracking of omnidirectional mobile robots, which are driven by using SMC, are summarized. The advantages and disadvantages in previous researches are analyzed. The kinematics and dynamics of omnidirectional mobile robots with four mecanum wheels (OMRFMW) are established. Based on the kinematics and dynamics models, the control law of OMRFMW is put forward to realize trajectory tracking. Then, stability of the proposed control strategy is analyzed. Simulations of the proposed control strategy for OMRFMW are carried out. The simulation results show that the proposed strategy performs well and has good tracking performance.
KW - Omnidirectional mobile robots with four mecanum wheels
KW - Sliding mode control
KW - Trajectory tracking
UR - http://www.scopus.com/inward/record.url?scp=85087908987&partnerID=8YFLogxK
U2 - 10.1109/ICUSAI47366.2019.9124796
DO - 10.1109/ICUSAI47366.2019.9124796
M3 - 会议稿件
AN - SCOPUS:85087908987
T3 - 2019 IEEE International Conference on Unmanned Systems and Artificial Intelligence, ICUSAI 2019
SP - 13
EP - 18
BT - 2019 IEEE International Conference on Unmanned Systems and Artificial Intelligence, ICUSAI 2019
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2019 IEEE International Conference on Unmanned Systems and Artificial Intelligence, ICUSAI 2019
Y2 - 22 November 2019 through 24 November 2019
ER -