Trajectory Tracking of an Omni-Directional Wheeled Mobile Robot Using a Model Predictive Control Strategy

Abstract

This paper addresses trajectory tracking of an omni-directional mobile robot (OMR) with three mecanum wheels and a fully symmetrical configuration. The omni-directional wheeled robot outperforms the non-holonomic wheeled robot due to its ability to rotate and translate independently and simultaneously. A kinematics model of the OMR is established and a model predictive control (MPC) algorithm with control and system constraints is designed to achieve point stabilization and trajectory tracking. Simulation results validate the accuracy of the established kinematics model and the effectiveness of the proposed MPC controller.

Keywords

• omni-directional mobile robot (OMR)
• kinematics model
• model predictive control
• point stabilization
• trajectory tracking