Behavior-Based Control of Mecanum four-wheeled mobile robot

In this paper, a four-wheeled omnidirectional robot of the mechanome type is investigated. The kinematics and dynamics of the robot have been studied, which shows the influence of robot parameters and modeling on relationships. Using the relationships in kinematics, the robot-based behavior control is performed. The goal is for the robot to reach the desired position with the presence of obstacles with this control method. In the kinematic section, the relationships between the rotation speed of the robot and the speed of the robot itself are investigated. In the dynamics section, the relationships between the forces and the acceleration of each wheel are examined to calculate the required torque for each wheel. Novelty is The Work done in the robot control method. Using the behavior-based algorithm method, the robot must reach the target point by crossing obstacles and changing the position between each behavior. Since this type of robot has a movement of three degrees of freedom on the screen, we want to examine the rotational motion of the robot independently of its linear motion. Therefore, during the movement of the robot and reaching the goal, the orientation of the robot should always be towards a moving point separate from the target point. Finally, the dc motor is modeled for the robot wheels to obtain the actual wheel speed and torque.