Four Wheeled Mecanum Robot (FWMR) possess the capability to move in any direction on a plane making it a cornerstone system in modern industrial operations. Despite the extreme maneuverability offered by FWMR, the practical implementation or real-time simulation of Mecanum wheel robots encounters substantial challenges in trajectory tracking control. In this research work, we present a finite-time control law using backstepping technique to perform stabilization and trajectory tracking objectives for a FWMR system. A rigorous stability proof is presented and explicit computation of the finite-time is provided. For tracking objective, we demonstrate the results taking an S-shaped trajectory inclined towards collision avoidance applications. Simulation validation in real time using Gazebo-ROS on a Mecanum robot model is carried out which complies with the theoretical results.
@article{arxiv.2410.06762,
title = {Finite-Time Trajectory Tracking of a Four wheeled Mecanum Mobile Robot},
author = {Anil B and Mayank Pandey and Sneha Gajbhiye},
journal= {arXiv preprint arXiv:2410.06762},
year = {2024}
}