Trajectory Tracking Control of a Mecanum-Wheeled Omnidirectional Mobile Robot Implemented in ROS-Gazebo

https://doi.org/10.58571/CNCA.AMCA.2024.082

Resumen: This article presents a trajectory tracking robust control for a mobile robot with Mecanum wheels. Using the sliding mode technique, a controller is developed to ensure robustness against unknown uncertainties, providing stable convergence. For stability onditions, the direct Lyapunov method is used, which guarantees the asymptotic convergence of the system. Finally, the results are evaluated at the simulation level using the nonlinear model and ROS2 in the Gazebo environment.

¿Cómo citar?

López Cancino, L., Luna Aguilar, M., Gómez Peñate, S., Santos Ruiz, I. & Molina Dominguez, S. (2024). Trajectory Tracking Control of a Mecanum-Wheeled Omnidirectional Mobile Robot Implemented in ROS-Gazebo. Memorias del Congreso Nacional de Control Automático 2024, pp. 481-486. https://doi.org/10.58571/CNCA.AMCA.2024.082

Palabras clave

Omnidirectional mobile robot, Sliding mode control, Trajectory Tracking, ROS2, Gazebo

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