Treffer: Dynamic modeling and motion control of four mecanum wheeled platform mobile robot (4-MWPMR).

This paper describes a driving control for path planning of a Four Mecanum Wheeled Platform Mobile Robot (4MWPMR).SMC-PSO is used to create a hybrid controller that is compared with the sliding mode control, fuzzy logic control, and grey wolf optimization (SMC-FLC-GWO) methodology. Each motor's torque is calculated using the Sliding Mode Controller (SMC), and the SMC's gains parameters are computed using FLC and GWO. The torques, positioning error in the (x,y) direction, and orientation error findings have all been shown using MATLAB programming, which has been simulating to model the equations. Planning a linear trajectory has been chosen as the test case for the new hybrid controller's performance. The results of the new hybrid controller and the results of the SMC have been compared in a study. The magnitudes of the errors in position and orientation of the 4-MWPMR received from the new hybrid controller were less than the magnitudes of the errors in position and orientation obtained from the SMC-FLC-GWO, demonstrating the efficacy and robustness of SMC-PSO. The results showed the effectiveness and accuracy of this new hybrid controller. [ABSTRACT FROM AUTHOR]