Study On Omni-directional Robot Control And Scheduling Algorithm

With the theme of the human-robot interaction opened, robotics and automation has received more and more attention. According to the characteristics of fire scene, this paper mainly focuses on the design of the omnidirectional mobile platform based on the Mecanum wheel structure.Mecanum wheel is a kind of omni-directional wheel, a regular arrangement of wheels layout can ensure the robot perform omni-directional mobile in the drive by configurating the running velocity and direction of the motor. The mobile platform has three degrees of freedom, which is more flexible than the ordinary wheeled mobile robot. The industrial production and warehousing and logistics industry and crowded places, smaller service industry, flexible omni-directional robot can reflect the characteristics of its application, the robot can keep its pose in the walking process also makes great play in some high requirements of the occasion. The omni-directional mobile platform using the Simultaneous Localization and Mapping algorithm can be achieved in a completely unfamiliar environment at the same time to achieve the establishment of a map and positioning two functions. SLAM algorithm is able to accurately building map and locating the global location localization.Autonomous mobile robot can according to the map information planning a more effective path to walk is one of the core technology of its movement. In order to improve the work efficiency of the robot, this paper use the traditional A * algorithm is adopted to improve the smooth smooth A * global path planning algorithm for robot path planning.By comparing with the A* algorithm used widely, smooth A * algorithm can ensure the high-efficiency of planning the robot running path. The smooth A * algorithm optimized the large angles and deleted some of them so as to improve the efficiency of the robot. For the high speed running robots, motion characteristics of the robot will determine the stability of the whole mobile system, and efficient motion control can ensure the robot path planning in the future can be in strict accordance with the path planning of running. In this paper, by comparing the conventional PID control, fuzzy PID control and the optimized fuzzy PID control comparison based on Particle swarm optimization, selected the optimized fuzzy PID control comparison based on Particle swarm optimization to control the motion of robot.In the contrast simulation experiment of fuzzy PID control system based on particle swarm optimization, conventional PID and fuzzy PID control, PSO fuzzy PID control is more effective to ensure the stability of the motion system. The dynamic characteristics of the robot and the adjusting time are significantly improved, and effectively enhanced the motion characteristics of the robot.