I have a robot with four Mecanum wheels. I want to make robot follow different paths. The path information is given in x,y coordinates. I want to start from simplest controller i.e. open loop type as I don't want to feed back robot actual position to controller for error minimization. As far as I understand, this problem can be solved using inverse kinematics equations. The desired velocity for robot to follow the path is derived using IK. I also found pure pursuit algorithm. I am confused if I am working in right direction and if inverse kinematic approach is right one, how to implement it? and what is the scenario to use pure pursuit algorithm? Could someone please advice me or guide me.




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