Hardware Implementation of Sliding Mode Control of Mobile Robot with Four Mecanum Wheels

This paper proposes the design of a control system for a mobile robot capable of calculating a real-time control algorithm. The design of the mobile robot is presented with a description of the components from which it was made both in terms of hardware and software. The vision system used to analyze its motion is described. A simulation and an experiment were performed and their results are included in the paper. The paper is crowned with a comparison of the obtained results and plans for further development of the system.