Abstract
Omnidirectional mobile robots (OMRs), which have full mobility on a plane, have been widely used in various applications, such as warehousing and logistics. However, the high tire wear and power consumption of the OMRs have become to difficulties needed to be solved urgently. In this paper, to address the issues of interest, a novel trajectory-tracking algorithm for OMRs with Mecanum wheels is proposed. A controller is then designed in light of the model-prediction control algorithm. A joint simulation is conducted by using the V-rep and MATLAB for verification. It turns out that the algorithm presented effectively reduce the tire wear and power consumption. This study is expected to lay a foundation for the further popularization and application of OMRs.
Supported by the National Natural Science Foundation of China (52205040, 62227814) and Young Talent Fund of Xi'an Association for Science and Technology (959202313096). Chuanyang Li gratefully acknowledges the support of the Three Qin Talents" program.
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Luo, Z., Wang, J., Ju, B., Li, C., Hu, C. (2025). Design of a Trajectory-Tracking Controller for OMRs Based on Minimizing Tire Wear. In: Lan, X., Mei, X., Jiang, C., Zhao, F., Tian, Z. (eds) Intelligent Robotics and Applications. ICIRA 2024. Lecture Notes in Computer Science(), vol 15201. Springer, Singapore. https://doi.org/10.1007/978-981-96-0771-6_5
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DOI: https://doi.org/10.1007/978-981-96-0771-6_5
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