Coupled Control Algorithm for Rotation and Revolution of Omni-directional Automated Guided Vehicle based on Mecanum

Abstract

The omni-directional mobile vehicle（ Automated guided vehicle,AGV） based on Mecanum wheel in industrial production has a wide range of applications. The existing control methods mainly realize the AGV omni-directional movement by controlling the AGV translation and rotation separately independently.Through analyzing the kinematics law of AGV,and a control algorithm of AGV rotation,revolution and coupling motion is proposed. The theoretical analysis,computer simulation and experiments prove the effectiveness of the proposed algorithm. The proposed algorithm can be extended to an arbitrary curve path,which may have a great practical significance.

Keywords

• Mecanum wheel;Omni-directional vehicle;Control algorithm