Development of a control model for a four wheel mecanum vehicle

Abstract

This paper presents the development of a control model for Mecanum wheels. Available control models used in robotics are based on a simplification which defines the contact point of the wheel on the ground as the point in the centre of the wheel, which does not vary. This limits the smoothness of motion of a vehicle employing these wheels and impacts the efficiency of locomotion of vehicles using Mecanum wheels. The control model proposed accounts for the fact that the contact point in fact changes position down the axle of the wheel as the angle roller moves on the ground. Taking this into consideration makes control of the wheels more predictable and accurate