Design And Control Of Four Wheel Independent Drive And Steering Mobile Robot

As one of the important branch of mobile robotics, wheel mobile robot has long been paid attention to by the research people at home and abroad for its high load ability, positioning accuracy, high efficiency, simple control, etc. Mobile robot has close relation to many technologies such as control theory, computer technology, sensor technology, etc. Therefore, research on the mobile robot has important significance.The mechanical structural design of four wheel independent drive and steering mobile robot, kinematics and control program design are analyzed and researched in this paper. This paper investigates the following issues:Firstly, designing and building the four-wheel independent drive and steering mobile robot platform, the drive mechanism and steering mechanism of mobile robot, the anti-vibration mechanism of robot chassis are designed. At the same time, the model of four wheel independent drive and steering mobile robot is analyzed in kinematics.Secondly, using programmable logic controller as bottom controller of four wheel independent drive and steering mobile robot, designing lower computer software based on ladder language, realizing related motion, such as going straight, four wheel steering, spinning around itself. The speed detection device for drive motor is designed.Thirdly, by using robot operating system (ROS), the development of upper computer software for mobile robot is completed. The four wheel independent drive and steering mobile robot is controlled by hall joystick. Besides, using vision sensors to collect and process data.