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The Mecanum wheel, due to its omnidirectional mobility and heavy-duty transporting ability on the ground plane, is widely applied in the industry. However, the Mecanum wheel trades off energy efficiency for maneuverability. This paper proposes a novel energy consumption model of the four-wheel omnidirectional Mecanum mobile robots. The model is built based on a comprehensive understanding of the kinematics,...
The article deals with the calibration and simulation of the odometry based on iRobot Create. The mathematical model of robot was built and analysed. In order to calibrate the odometry and modify the parameter in the programme, we carried out UMBmark test. The accumulation of errors was simulated through Kalman filter theory.
A Mecanum-wheeled robot benefits from great omni-direction maneuverability. However it suffers from random slippage and high-speed vibration, which creates electric power safety, uncertain position errors and energy waste problems for heavy-duty tasks. A lack of Mecanum research on heavy-duty autonomous navigation demands a robot platform to conduct experiments in the future. This paper introduces...
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