Trajectory path planning design for omni directional mobile robot with mecanum wheels
A mecanum wheel mobile robot has been developed at previous semester in Mechatronic System Design 2 project. But, there are many liabilities in hardware and software component which require improvements. This robot is redesigned and reconstructed with custom made mecanum wheels at Mechatronic Department. The mecanum wheels consist of ten rollers made of polyurethane. This robot implements path planning and path executor architecture. Although, only Path planning architecture will be discuss in this thesis and path executor will be discussed by another author. The path planner is designed base on Lagrange's Polynomial with combination of robot kinematics. The output of path planner will be executed by path executor. The movement task to the robot will be in the form of set of command that consist of angular velocity of each mecanum wheel. This angular velocity is generated by the path planner. This thesis will discuss the algorithm of Lagrange's Polynomial, robot kinematics, and the strategy of path planner to perform the task.
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