Self-Tuning Fuzzy PID Control of a Four-Mecanum Wheel Omni-directional Mobile Platform

摘要

In this paper we restrict our attention to self-tuning control of a four-Mecanum mobile robot and present detailed kinematics and controller architecture of a robot. Since the Mecanum wheels worked based on slipping, therefore, its wheels may slip due to various floor conditions. During such a slip condition, Mecanum wheeled robot moves in unexpected path. In order to reduce this error, four incremental encoders are utilized. Then the fuzzy PID controller is described. This proposed controller can be implemented in microcontroller easily. Finally, the merit of the controller is investigated experimentally. Results show that the Self-Tuning Fuzzy PID Control and encoder sensors provide a reasonable structure for Mecanum wheel robot.