Model-Based-Control for Trajectory Tracking with a Mecanum Wheeled Vehicle
A performance comparison between kinematic and dynamic model-based control
T.N. van der Spijk (TU Delft - Electrical Engineering, Mathematics and Computer Science)
B. Shyrokau – Mentor (TU Delft - Intelligent Vehicles)
Martijn Wisse – Graduation committee member (TU Delft - Robot Dynamics)
A. Bertipaglia – Mentor (TU Delft - Intelligent Vehicles)
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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).