Mecanum wheels robot modeling and path tracking

This paper investigates the kinematic and dynamic characteristics of Mecanum wheel robots. Coordinates transform between world and robot frames using rotation matrices. Mecanum wheel roller contacts decompose velocity into forces along and perpendicular to rotation. Motor models use voltage, current, speed, and torque equations. Chassis analysis sums individual wheel motions in 3 Degree of Freedoms(DOFs). Kinematics relate chassis and wheel speeds through transformations. Dynamics apply Lagrangians, modeling total energy from chassis translation, rotation, and wheel rotation. Friction opposes wheel acceleration. Mass and friction matrices relate motor torques to chassis accelerations. Use the A-star algorithm in the Robotics Playground to construct a maze and generate a robot's motion path, and then use that path as the input for the robot's kinematics. A Simulink model demonstrated trajectory following in the maze using Proportional Integral Derivative(PID) control of wheel speeds. The trajectory tracking results demonstrate that the robot's model is correctly established, and the Proportional Integral Derivative(PID) controller can effectively ensure stable tracking of the robot along the path.Limitations exist in simplified battery dynamics, inaccurate chassis parameters, and lack of Proportional Integral Derivative(PID) parameter optimization.