Fuzzy adaptive PID control method for multi-mecanum-wheeled mobile robot

Mecanum-wheeled mobile robots are widely used because they can easily realize omnidirectional movement and have flexible movement characteristics. However, existing mecanum-wheeled robots generally have problems of low movement accuracy and poor stability. Structural optimization method can improve the movement accuracy and stability of mecanum-wheeled robots, but it cannot solve the problem fundamentally. In this study, the method of geometric modeling is applied to deduce the parameters kinematic error e, slip factor μ, and overturning angle λ, all of which have an effect on the movement accuracy and stability of the robot. Combined with the advantages of PID and fuzzy control, a fuzzy adaptive PID control method is proposed. The experimental prototype of the eight-mecanum-wheeled omnidirectional mobile robot is built to carry out the trajectory tracking control experiment, and the superiority in the fuzzy adaptive PID control method is verified.