Abstract:
In this study, a Robot Operating System (ROS)
based Mecanum-wheeled mobile robot is designed for two
algorithms developed scheme, one is a Proportional-Integral-
Derivative (PID) control algorithm directly implemented into the
online controller firmware, and the other hand is a Model Predictive
Control (MPC) algorithm implemented on an independent
PC for a remote control. In the PID control algorithm, ultrasonic
distance detection is used to keep the vehicle running parallelly
along a wall. In the MPC algorithm, the vehicle is able to run
according to planned paths and create the map by Lidar SLAM.
In the paper, the real implementation of the system is detailed
practical experiment validations.
