0
$\begingroup$

I have a robot with four mecanum wheels (blue square) that can move in an open-space room. The position x,y of the robot is measured in a very accurate way by a fixed position sensor (red circle) that is placed in the origin of the place and has coordinates (0,0,0). The position of the robot is updated at 10Hz.

I want to make the robot follow different paths like the one from A to B as showed in the picture (in green color).

What is the best and accurate way to do that? I think I should have to create the path like a series of x,y points and make the robot move towards them but I don't know how to derive the motion equations.

Can you give me some advices or examples, please?

enter image description here

Improve this question
$\endgroup$

2 Answers 2

Reset to default
2
$\begingroup$

Let's suppose you have a required (continuous) trajectory in the form of an equation that you want to follow, for example take a straight line (whose equation is y=2x+5), you can break it down into discrete points and generate a velocity profile out of this trajectory, the calculated velocity profile could be fed to inverse kinematic equations [1] of robot (omni-platform) for calculating the angular velocities of wheel which will be required to follow that above path (straight line in our example).

[1]: https://www.researchgate.net/publication/308570348_Inverse_kinematic_implementation_of_four-wheels_mecanum_drive_mobile_robot_using_stepper_motors

Improve this answer
$\endgroup$
0
$\begingroup$

You could try to implement a pure pursuit controller.

Improve this answer
$\endgroup$

Your Answer

By clicking “Post Your Answer”, you agree to our terms of service and acknowledge that you have read and understand our privacy policy and code of conduct.

Not the answer you're looking for? Browse other questions tagged or ask your own question.