Finite-Time Trajectory Tracking of a Four wheeled Mecanum Mobile Robot

TL;DR

This paper develops a finite-time control law using backstepping for a four-wheeled Mecanum robot, enabling precise trajectory tracking and collision avoidance, validated through real-time Gazebo-ROS simulations.

Contribution

It introduces a novel finite-time backstepping control method for FWMR trajectory tracking with rigorous stability proof and practical simulation validation.

Findings

Successful trajectory tracking of S-shaped path

Finite-time stability proven mathematically

Simulation results align with theoretical predictions

Abstract

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.