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Kinematic Modeling and Stable Control Law Designing for Four Mecanum Wheeled Mobile Robot Platform Based on Lyapunov Stability Criterion

Transportation in warehouses and production workshops is a matter of urgency today. Most warehouses arrange routes for circulation along the shelves, transportation vehicles will move on this road to perform the task of exporting or importing goods. Routes will be arranged to move in one direction because vehicles do not have enough space to turn around in cramped warehouses. This causes many difficulties in planning the trajectory for transportation vehicles, especially self-propelled vehicles. In order to have an appropriate transportation plan, it is necessary to solve many problems, including: reasonable transport equipment, sufficient number of devices, optimal route layout, algorithm of operation center for Positioning and Navigation of transportation equipment, This study proposes a method for transportation using an omnidirectional automated guided vehicle (AGV). The AGV's omnidirectional mobility is supported by the mecanum wheels, so vehicles can move in multiple directions on the road without turning, even at a junction or an intersection. This study consists of two parts, the first part focuses on kinematic modeling for mecanum wheels and extends to robot’s platform using four mecanum wheels. Part two proposes a diagram to calculate the errors of the robot compared to a reference tracking line, design a control law based on the Lyapunov stability criterion. The stability of the control law is verified and confirmed by simulation on Matlab environment.

Mecanum Wheels, Omni Directional Mobile Platform, Lyapunov Stability, Line Tracking Robots, AGV

APA Style

Tri Dung Nguyen. (2023). Kinematic Modeling and Stable Control Law Designing for Four Mecanum Wheeled Mobile Robot Platform Based on Lyapunov Stability Criterion. Engineering and Applied Sciences, 8(5), 83-89. https://doi.org/10.11648/j.eas.20230805.11

ACS Style

Tri Dung Nguyen. Kinematic Modeling and Stable Control Law Designing for Four Mecanum Wheeled Mobile Robot Platform Based on Lyapunov Stability Criterion. Eng. Appl. Sci. 2023, 8(5), 83-89. doi: 10.11648/j.eas.20230805.11

AMA Style

Tri Dung Nguyen. Kinematic Modeling and Stable Control Law Designing for Four Mecanum Wheeled Mobile Robot Platform Based on Lyapunov Stability Criterion. Eng Appl Sci. 2023;8(5):83-89. doi: 10.11648/j.eas.20230805.11

Copyright © 2023 Authors retain the copyright of this article.
This article is an open access article distributed under the Creative Commons Attribution License (http://creativecommons.org/licenses/by/4.0/) which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.

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