| Omni-directional mobile robot is an important class of automated guidedvehicle (AGV). It has broad application prospects in logistics, machining, aerospace,automobile manufacturing and other industries. How to improve the intelligencelevel of omni-directional mobile robot, especially the intelligence to automaticallyand safely drive towards a specific target based on the assigned tasks and routes,has important theoretical significance and application value. This paper did in-depthstudy of navigation technology of the omni-directional mobile robot based on acertain type of the actual vehicle, which includes key technologies, suchas, kinematics analysis of omni-directional mobile robot, visual navigation based onlinear features of the robot, navigation control algorithms of mobile robot, anddesign and implementation of transmission line navigation. The main contents areas follows:First, based on the actual characteristics of the vehicle, the kinematics ofMecanum wheel omni-directional mobile robot is researched. Mecanum wheel iscommonly used in a full range of mobile robot moving mechanism; it has flexiblemovement along any plane orientation. This paper analyzed its kinematics andderived equations and inverse kinematics equations based on kinematics ofMecanum wheel omni-directional mobile robot, so it laid the foundation for mobilerobot navigation control transmission line.Next, the study focuses on the problem of vision-based navigation linearfeatures of robot. Compared with other methods, visual navigation has low cost,flexibility and other characteristics. This research combined with the characteristicsof the work, and is based on the characteristics of the visual line secondarynavigation. First it discussed the acquisition and pre-processing of visual images,provided a basis for further navigation feature detection. Then it focused on thelinear feature detection algorithm, improved Hough transform based on thecharacteristics of the basic problems, and designed credible and linear discriminantline connection methods to improve detection accuracy and reliability, based on theconversion result. Finally, research robot vision calibration problem subsystem isdesigned based on the characteristics of the camera outside the parameters of thelinear calibration method.Further, this study focused on transmission line method for controlling therobot. Taking into account the uncertainty of the model parameters of mobile robotand the environment, combined with the basic fuzzy control algorithm, and theintroduction of a nonlinear tracking differentiator (NTD), an adaptive control algorithm based on fuzzy NTD, and applied to a full range of mobile transmissionline loop control robot navigation. This method was validated by simulation designmethod.Finally, the paper studies the design and implementation of transmission linerobot navigation systems. Based on the actual omni-directional robot, the designand implementation of the transmission line navigation system are researched.According to the General Logistics Department of the principles, the overallarchitecture and design of the system is first researched and the further discussionof the hardware and software design, electrical interface and implementation issuesis proposed. The effectiveness of the proposed design is shown by the actual systemtesting. |
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