Construction and control algorithm of the Mecanum wheelbase motion model based on the improvement of output speed stability
ZHANG Zhen
SUN Yongzhi
LI Jinrong
DING Yi
Abstract：[Objective]To address the local path planning problem of Mecanum wheel mobile robots in confined environment,an improved time elastic band(TEB)algorithm tailored for Mecanum wheel chassis was proposed.[Methods]Firstly,considering the omnidirectional mobility characteristics of Mecanum wheel mobile robots,the conventional unidirectional velocity constraints in the TEB algorithm were decomposed into independent velocity constraints along the X and Y axes.Secondly,based on the kinematic principles of Mecanum wheel mobile robots,angular acceleration constraints of the four wheels were incorporated into the TEB algorithm's optimization function.[Results]Test results demonstrate that the proposed algorithm significantly enhances the robot's driving efficiency in narrow environment,while effectively mitigating wheel slippage and unstable velocity outputs during motion,thereby generating trajectories that satisfy the kinematic and dynamic constraints of Mecanum wheel mobile robots.
Keywords：Mecanum wheelLocal path planningTEB algorithmMotion planningMobile robot
Publication Date：2025-12-15
Online Publishing Date：2026-09-12(First online date of this platform, not the publication date of the document)
Pages：8( 81-88 )