Design And Implementation Of Autonomous Navigation Omnidirectional Mobile Platform In Structured Environment

With the continuous development and gradual improvement of the industrial system,the factory environment is structured and the production automation is getting higher and higher,mobile robots are widely used in production activities as material storage and transportation devices.For this purpose,an omnidirectional mobile platform based on Mecanum wheel is designed and manufactured in this paper.To ensure the high-precision movement and flexible obstacle avoidance of the mobile platform in the production process,a compound control algorithm is proposed.Finally,the mobile platform is proved to meet the initial requirements of autonomous navigation through experiments.The main work of this paper is as follows:(1)structural design of mobile platform.In this paper,the SolidWorks software is used to establish the 3d model of the mobile platform,and the standard parts are purchased,the non-standard parts are processed and manufactured by a mechanical processing plant.Finally,the entire mobile platform is assembled and shaped.(2)mathematical model design.In this paper,the design idea of mobile platform based on four Mecanum wheels is adopted.Firstly,the kinematics mathematical model of a single Mecanum wheel is established.Then,the kinematics mathematical model of four Mecanum wheels in the mobile platform coordinate system is established.Finally,the kinematics mathematical model of the mobile platform in the environmental coordinate system is established.(3)Design of control system.In this paper,the control system of mobile platform is divided into upper,middle and lower layers.The upper control is the remote control interface written in C# under the Windows system,the middle and lower control are placed on the mobile platform,and the middle control is the vehicle server written in C++ under the Linux system,which is the control center of the mobile platform.The lower control is the basic control circuit based on Arduino mega ADK.In addition,the LAN communication between the upper and middle layer control and the serial communication between the middle layer and the lower layercontrol are built.The movement of the mobile platform can be controlled flexibly and freely.(4)Introduction to control algorithm.In this paper,the mobile platform collects environmental data through the lidar sensor,processes and analyzes the collected environmental data,and combines the fuzzy PID control algorithm,bang-bang control idea and the obstacle avoidance algorithm proposed in this paper to form a composite control algorithm,which realized flexible obstacle avoidance and high-precision motion of the mobile platform indoors.Finally,the mobile platform completed debugging,and tested the load,obstacle,climbing ability of the mobile platform,the results are good.Further,the navigation ability and obstacle avoidance ability of the mobile platform along the wall were tested,the research results show that the mobile platform is flexible in motion mode.It can maintain better obstacle avoidance ability and higher motion accuracy in two-dimensional environment.