Trans Motauto World
Vol. 10 (2025), Issue 2, pg(s) 51-55

TRANSPORT TECHNICS. INVESTIGATION OF ELEMENTS. RELIABILITY

Control System Concept for an Omnidirectional Mobile Platform: Modeling and Design Aspects

  • 1 AGH University of Krakow, Poland

Abstract

This paper presents a comprehensive concept for the control system of a four-wheeled omnidirectional mobile platform equipped with mecanum wheels, intended for industrial applications under the Industry 4.0 paradigm. The platform is modeled both kinematically and dynamically, with a nonlinear rigid-body formulation that incorporates Coriolis effects and rolling resistance. Particular attention is paid to the challenges arising from strong coupling between translational and rotational motion. To overcome the limitations of conventional control methods in complex and dynamic environments, a reinforcement learning strategy based on an actor–critic architecture is proposed. The agent is trained in a virtual warehouse scenario using simulated lidar data as sensory input, allowing it to learn effective policies for collision-free navigation. The continuous action space is mapped to wheel angular velocities through scaled hyperbolic tangent activations, enabling direct and fine-grained control of the platform. The proposed control system is designed for modularity, robustness, and scalability, making it a promising candidate for autonomous logistics and adaptive robotic applications in smart manufacturing environments.

Keywords

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