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| Format: | Preprint |
| Veröffentlicht: |
2024
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| Online-Zugang: | https://arxiv.org/abs/2410.06762 |
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| _version_ | 1866913539115974656 |
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| author | B, Anil Pandey, Mayank Gajbhiye, Sneha |
| author_facet | B, Anil Pandey, Mayank Gajbhiye, Sneha |
| contents | Four Wheeled Mecanum Robot (FWMR) possess the capability to move in any direction on a plane making it a cornerstone system in modern industrial operations. Despite the extreme maneuverability offered by FWMR, the practical implementation or real-time simulation of Mecanum wheel robots encounters substantial challenges in trajectory tracking control. In this research work, we present a finite-time control law using backstepping technique to perform stabilization and trajectory tracking objectives for a FWMR system. A rigorous stability proof is presented and explicit computation of the finite-time is provided. For tracking objective, we demonstrate the results taking an S-shaped trajectory inclined towards collision avoidance applications. Simulation validation in real time using Gazebo-ROS on a Mecanum robot model is carried out which complies with the theoretical results. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2410_06762 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | Finite-Time Trajectory Tracking of a Four wheeled Mecanum Mobile Robot B, Anil Pandey, Mayank Gajbhiye, Sneha Systems and Control Four Wheeled Mecanum Robot (FWMR) possess the capability to move in any direction on a plane making it a cornerstone system in modern industrial operations. Despite the extreme maneuverability offered by FWMR, the practical implementation or real-time simulation of Mecanum wheel robots encounters substantial challenges in trajectory tracking control. In this research work, we present a finite-time control law using backstepping technique to perform stabilization and trajectory tracking objectives for a FWMR system. A rigorous stability proof is presented and explicit computation of the finite-time is provided. For tracking objective, we demonstrate the results taking an S-shaped trajectory inclined towards collision avoidance applications. Simulation validation in real time using Gazebo-ROS on a Mecanum robot model is carried out which complies with the theoretical results. |
| title | Finite-Time Trajectory Tracking of a Four wheeled Mecanum Mobile Robot |
| topic | Systems and Control |
| url | https://arxiv.org/abs/2410.06762 |