Gespeichert in:
| Hauptverfasser: | , , |
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| Format: | Preprint |
| Veröffentlicht: |
2024
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| Schlagworte: | |
| Online-Zugang: | https://arxiv.org/abs/2410.06762 |
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Inhaltsangabe:
- 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.