Design And Implementation Of Three-wheel Omni-directional Mobile Robot System Based On ROS

With the development of artificial intelligence technology,computer and sensor technology,electronic information engineering technology and other new technologies in recent years,intelligent robot technology has also advanced greatly and its golden stage of industrialization ushers.The communication technology is applied to promote the extensive application of Internet of Things(IOT)technology,and the development of robot technology applications.The integration of IOT and robot technology has great potential in the areas of Smart Home,security and so on,and thus becomes one main trend of robot technology development.This paper designs a set of mobile robot control platform based on robot operating system(ROS)from the point of view of robot's application in IOT.The platform designed in this paper combines the robot technology and IOT and thus has both advantages of the two key technologies.The architecture of the platform adopts the concept of low coupling hierarchical controls,which includes the application layer with IOT as the core,the information decision and processing layer with the robot operating system as the core,and the embedded bottom layer which is responsible for the robot movement control.It is easy to maintain and low cost,reusable.This paper describes the four modules required for a complete mobile robot:sensing,positioning,cognition and decision making,and motion control.It introduces the types of sensors,working principle and sensor data pre-processing methods needed by mobile robots.Sensor information fusion technology is utilized for simultaneous localization and mapping;Cloud services are used to send control commands to the terminal of the robot,and also get the robot sensor information.The robot's motion is planned and decided according to the control command from the application layer and current pose status.Finally,the decision information is transferred to the actuator in charge of the motion control to accomplish the action.This article describes in details how to design the hardware of the above functional module,software design process,and the relevant algorithm principle.In order to verify the feasibility of the mobile robot platform,a series of experimental tests are carried out.The results demonstrate the design concept of the mobile robot platform is practical.