Kinematic motion control of six-wheeled mecanum-robot

The work considers a theoretical model of the multi-wheel mobile robot on mecanum-wheels. It also briefly discusses the hardware implementation. The main purpose of the work is synthesis of controlled machine movement along the curved trajectories. Mecanum-wheels (wheels with a series of rollers attached to their circumference that can move a vehicle in any direction) simplify the kinematic scheme of the machine because the vehicle doesn't need sophisticated steering mechanisms and drives. The vehicle fully preserves the control possibilities for curvilinear motion. This work shows ways of the machine control for different trajectories.