Trajectory tracking and time delay management of 4-mecanum wheeled mobile robots (4-MWMR)

Samia Mellah 1 Guillaume Graton 1 El-Mostafa El-Adel 1 Mustapha Ouladsine 2, 1 Alain Planchais
1 PECASE - Pronostic/Diagnostic Et CommAnde : Santé et Energie
LIS - Laboratoire d'Informatique et Systèmes
2 LSIS - Laboratoire des Sciences de l'Information et des Systèmes
Abstract : Nowadays, wheeled mobile robots have a very important role in industrial applications, namely in transportation tasks thanks to their accuracy and rapidity. However, meeting obstacles while executing a mission can cause an important time delay, which is not appreciable in industry where production must be optimal. This paper deals with the time delay management, the trajectory generation and the tracking problem applied on four wheeled omnidirectional mobile robots. A strategy is proposed to minimize or compensate the time delay caused by obstacles. The approach is done by updating the reference trajectory. This update helps to track the trajectory in real time, a new control law based on the feedback linearization control theory is synthesized to track perfectly generated or updated trajectories.
Keywords : kine- matic model Vision and robotics 4-mecanum wheeled mobile robot trajectory generation and reconfiguration feedback linearization control
Document type :
Conference papers
Complete list of metadatas

Cited literature [20 references]  Display  Hide  Download
https://hal.archives-ouvertes.fr/hal-02381870
Contributor : Samia Mellah <>
Submitted on : Tuesday, November 26, 2019 - 7:05:32 PM
Last modification on : Saturday, January 25, 2020 - 1:13:01 AM

File

4.ACD2019_086_final_v4.pdf
Files produced by the author(s)

Identifiers

  • HAL Id : hal-02381870, version 1

Collections

ENSAM | LSIS | LIS-LAB | UNIV-TLN | UNIV-AMU | CNRS | UNIV-HESAM | TDS-MACS

Citation

Samia Mellah, Guillaume Graton, El-Mostafa El-Adel, Mustapha Ouladsine, Alain Planchais. Trajectory tracking and time delay management of 4-mecanum wheeled mobile robots (4-MWMR). ACD'19: 15th European Workshop on Advanced Control and Diagnosis, Nov 2019, Bologne, Italy. ⟨hal-02381870⟩

Export

BibTeX TEI DC DCterms EndNote

Share

Metrics

Record views

56

Files downloads

29

Contact

Informations

CCSD