Design Of Modular Four Wheel Independent Drive And Steering Mobile Robot Based On ROS

Considering that mobile robots can have the ability to move freely and flexibly in a narrow and crowded environment,based on the traditional wheeled mobile robot,this paper adopts a mobile robot platform design method that is modular and can be quickly reconfigured according to requirements,designed a four-wheel independent drive and steering mobile platform,and introduces the mechanical system and control system of mobile robots.Design a modular wheel that can be independently driven and steered,and build a four-wheel omnidirectional mobile robot platform.Using a modular design concept,each wheel is controlled by a controller that allows each wheel to be independently driven and steered,increasing the portability and reuse of the mobile platform.Combined with the built mobile robot,carry out the kinematics analysis,describe the pose state of the mobile robot in the world coordinate system,and the relationship between the speed and steering angle of each wheel of the mobile robot in the typical mode is calculated.In order to meet different functional requirements,this paper designs the control system from hardware and software.The control system hardware design adopts the modular design approach and is divided into controller module,motor control module,ultrasonic and anti-collision module,visual sensor module and communication module.Combined with the distributed and loosely coupled features of the robot operating system(ROS),in the Linux environment,use ROS as the software framework to design the control system software,and design a human-computer interaction interface.Finally,Simultaneous Localization and Mapping are realized by combining visual SLAM and ROS.The four-wheel independent drive and steering mobile robot is used to carry out experimental research,and verify the feasibility of designing the mechanical structure and control system of the mobile robot is verified by experiments.