Model-Based-Control for Trajectory Tracking with a Mecanum Wheeled Vehicle

van der Spijk, T.N.

Model-Based-Control for Trajectory Tracking with a Mecanum Wheeled Vehicle

A performance comparison between kinematic and dynamic model-based control

Master thesis (2024)

Authors

T.N. van der Spijk Electrical Engineering, Mathematics and Computer Science

Contributors

B. Shyrokau Intelligent Vehicles - Mechanical, Maritime and Materials Engineering (mentor)

M. Wisse Robot Dynamics - Mechanical, Maritime and Materials Engineering (graduation committee member)

A. Bertipaglia Intelligent Vehicles - Mechanical, Maritime and Materials Engineering (mentor)

Faculty

Electrical Engineering, Mathematics and Computer Science

Model-based control Dynamic modeling Kinematic modeling Trajectory tracking Mecanum wheeled vehicle

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Published Date

24-07-2024

Language

English

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Faculty

Electrical Engineering, Mathematics and Computer Science

Abstract

This research investigates the benefits of using a trajectory tracking controller based on a dynamic model for a four-Mecanum-wheeled vehicle (FMWV) over a kinematic-model-based controller. An FMWV was designed and built, incorporating both hardware and software components. Two Linear Quadratic Regulators (LQRs) based on kinematic and dynamic models were implemented. The dynamic model includes friction estimation, while the kinematic model assumes a no-slip condition. Simulation results indicate that the dynamic model reduces overshoot and improves trajectory tracking in low-friction scenarios compared to the kinematic model. High-friction scenarios show comparable performance for both controllers. Experimental results align with simulations, though some deviations highlight areas for further improvement. Overall, the dynamic-model-based controller demonstrates superior performance in low-friction conditions, reducing translational root mean square error (RMSE) and maximum path deviation (MaxE).

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