Design And Implementation Of All-wheel Steering Mobile Platform

All wheel steering mobile platform is an important branch of wheeled robot,which has the advantages of small steering radius,high stability,easy to pass through the narrow road surface and so on.The all-wheel steering platform can be used as a universal chassis,such as infrared cameras,robots and other tools.Not only that,it can also adapt to different environmental operations,become the focus of current research.Based on the design of the omni-directional and modular mobile platform,this paper adopts the trajectory tracking technology of autonomous tracking,which integrates mechanical,automatic control technology and electronic circuit to design and manufacture a remote control and autonomous tracking phase Combined with all rounds to move the platform.The main work of this paper is:1.The all-wheel steering platform uses a modular design.Taking into account the maintenance and secondary development of the all-wheel steering platform,the omni-directional wheel and the chassis plate through the flange connected to the control system using a layered platform mounted on the chassis structure,the entire mobile platform easy to maintain.2.The control system of the mobile platform is designed.The precise steering of the mobile platform is achieved by PWM control of the closed-loop stepper motor,which is achieved by the 485 bus control of the hub motor.3.Through the research of fuzzy neural network self-learning algorithm,the trajectory tracking controller of all-wheel steering platform is designed.Based on the analysis of the kinematic characteristics and dynamic characteristics of the mobile platform,the mathematical model of the mobile platform is established.The trajectory of the moving platform is tracked and simulated by using the designed trajectory tracking controller,which verifies the validity and correctness of the designed trajectory tracking controller.4.Designed the omni-directional structure of the mobile platform.The design of the damping mechanism and the hollow axis alignment improves the environmental adaptability of the mobile platform and enhances the stability and omnidirectional movement of the mobile platform on the uneven road surface.5.The remote control experiment and the autonomous tracking experiment are designed to test the remote control function of the forward and backward,the oblique line and the crab line of the mobile platform and the walking function of the trajectory tracking.Through a series of experimental tests,the results show that the all-wheel steering platform is to meet the design requirements.