The Dynamical Modeling of Four Mecanum Wheel Mobile Robot on Typical Unstructured Terrain

Omni-directional mobile platforms, particularly those equipped with Mecanum wheels, have revolutionized robotics research by enabling advanced mobility in various settings. This paper focuses on the kinematic and dynamic modeling of a four mecanum wheel mobile robot (FMWMR) on inclined surfaces, a terrain type that presents unique challenges. The kinematic model captures the intricate relationship between wheel velocities and the robot's overall motion, crucial for precise control. Additionally, the dynamic model, derived using Lagrange's equations, accounts for the influence of gravity and other forces on the robot's movement. Numerical simulations under different slope conditions reveal how the robot's trajectory and orientation are affected, providing insights into its behavior on sloped terrains