Four-wheeled omnidirectional drive

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Four-wheeled omnidirectional drive#

The kinematics of an agent with four independently controlled Mecanum wheels. The kinematics lets the agent move in any direction, with constrains deriving from the maximal speed of its wheels.

Example#

The video has been recorded using

$ navground_py record_video 4womni.yaml 4womni.mp4 --factor 1 --grid 1 --area -3 -1 3 1

with the following configuration

steps: 300
time_step: 0.0333
scenario:
  groups:
    - type: robomaster_ep
      color: darkcyan
      number: 1
      radius: 0.25
      control_period: 0.1
      kinematics:
        type: 4WOmni
        max_speed: 2
        wheel_axis: 0.25
      behavior:
        type: Dummy
        heading: target_point
        optimal_speed: 1
      task:
        type: Waypoints
        waypoints: [[2, 0], [-2, 0]]
        loop: true
        tolerance: 0.5
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