Scholarlink

Omnidirectional mobile robots (OMRs), which have full mobility on a plane, have been widely used in various applications, such as warehousing and logistics. However, the high tire wear and power consumption of the OMRs have become to difficulties needed to be solved urgently. In this paper, to address the issues of interest, a novel trajectory-tracking algorithm for OMRs with Mecanum wheels is proposed. A controller is then designed in light of the model-prediction control algorithm. A joint simulation is conducted by using the V-rep and MATLAB for verification. It turns out that the algorithm presented effectively reduce the tire wear and power consumption. This study is expected to lay a foundation for the further popularization and application of OMRs.

错误：搜索内容不能为空，请输入英文关键词
错误：关键词超出字数限制，请精简
高级检索

Design of a Trajectory-Tracking Controller for OMRs Based on Minimizing Tire Wear

  • 会议论文

  • 发表日期：

    2025年

查看全文
  • Zhaoyun Luo,
  • Jieling Wang,
  • Bingchen Ju,
  • Chuanyang Li,
  • Changhua Hu

摘要

Omnidirectional mobile robots (OMRs), which have full mobility on a plane, have been widely used in various applications, such as warehousing and logistics. However, the high tire wear and power consumption of the OMRs have become to difficulties needed to be solved urgently. In this paper, to address the issues of interest, a novel trajectory-tracking algorithm for OMRs with Mecanum wheels is proposed. A controller is then designed in light of the model-prediction control algorithm. A joint simulation is conducted by using the V-rep and MATLAB for verification. It turns out that the algorithm presented effectively reduce the tire wear and power consumption. This study is expected to lay a foundation for the further popularization and application of OMRs.