Dynamic Odometry for Waypoint Tracking of Omnidirectional Mecanum Wheeled Mobile Robot for Efficient Movement

Today, many industries have started using wheeled robots to transport raw materials because of their mobility. Usually, the robot's movement is only from one place to another and repeatedly occurs in the same place. A waypoint is a control point where the robot must move towards a predetermined destination. Industry highly considers Efficiency and Productivity to reduce losses and increase profits. Therefore, the robot's movement also needs to be improved to increase the production line's productivity. In the current work, a control strategy was developed to make the robot move linearly and angularly simultaneously to reduce travel time compared to the usual movement method. Furthermore, this control strategy is simulated and implemented on the Omni Mobile Robot with Mecanum Wheel (OMRMW) prototype. The results indicate that the proposed control strategy can shorten the robot movement time by up to 10.797 seconds.