Behavioural Fault tolerant control of an Omni directional Mobile Robot with Four mecanum Wheels

  • Swati Mishra Indian Institute of Technology, Indore - 453 552
  • Mukesh Sharma Indian Institute of Technology, Jodhpur - 342 037
  • Santhakumar Mohan Indian Institute of Technology, Indore - 453 552
Keywords: Omni-directional, Mecanum wheel, Differential-drive, Fault-tolerant-control, Line-of-sight, Kinematic control

Abstract

This paper analyses the four-mecanum wheeled drive mobile robot wheels configurations that will give near desired performance with one fault and two faults for both set-point control and trajectory-tracking (circular profile) using kinematic motion control scheme within the tolerance limit. For one fault the system remains in its full actuation capabilities and gives the desired performance with the same control scheme. In case of two-fault wheels all combinations of faulty wheels have been considered using the same control scheme. Some configurations give desired performance within the tolerance limit defined while some does not even use pseudo inverse since using the system becomes under-actuated and their wheel alignment and configurations greatly influenced the performance.

Author Biographies

Swati Mishra, Indian Institute of Technology, Indore - 453 552

Ms Swati Mishra graduated in Automobile Engineering from Oriental Institute of Science & Technology, Bhopal, Madhya Pradesh, India, in 2010. She did her Master degree in Specialisation of Design and Thermal from Institute of Engineering, D.A.V.V Indore, in 2012. She is currently pursuing PhD in the Discipline of Metallurgy Engineering & Material Science at IIT Indore, India.

Mukesh Sharma, Indian Institute of Technology, Jodhpur - 342 037

Mr Mukesh Sharma is a BTech undergraduate student in Department of Mechanical Engineering, IIT Jodhpur, Rajasthan, India (expected 2020). His research interest includes motion planning, vision and machine learning.

Santhakumar Mohan, Indian Institute of Technology, Indore - 453 552

Dr Santhakumar Mohan graduated from GCE Salem in 2003. He received his Master’s from GCT Coimbatore in 2005. He got his PhD (Robotics and Control) from IIT Madras in 2010.He worked as an Associate professor at IIT Indore. Currently, he is working as an Associate professor at IIT Palakkad. He is holding visiting faculty positions at IISc Bangalore, India, RWRWTH Aachen, Germany and ECN, France. His active research areas include underwater vehicle and underwater manipulator design and control, parallel robotic platforms, assistive robots, field and service robots, intelligent motion control, and, dynamic modelling and control of dynamic systems.

Published
2019-07-15
How to Cite
MishraS., SharmaM., & MohanS. (2019). Behavioural Fault tolerant control of an Omni directional Mobile Robot with Four mecanum Wheels. Defence Science Journal, 69(4), 353-360. https://doi.org/10.14429/dsj.69.13607
Section
Combat Engineering