Sensor Fusion Estimation for Omni-Directional Vehicle with Mecanum Wheel
Peter I-Tsyuen Chang, Chung‐Kwei Lin · 2023
In this research, an omni-directional vehicle using mecanum wheel is estimated for its current states, through fusion of its measured motor rotation speed, and its acquired velocity from accelerometer. Simulation utilizing MATLAB, as the two sensor measurements are fused using a Kalman filter. Both the omnidirectional vehicle’s kinematic and dynamic model is used for the sensor fusion. The fusion process considers both the rotational speed of each wheel as well as the measured speed of the center of mass of the vehicle, and taken into account of all the kinematics model and the dynamics model, to estimate a reliable omnidirectional vehicle state.