The Motion Control Of Omnidirectional Robot Based On Mecanum Wheels

Recently,with the great development of the logistics industry and the continuous investment in AGV vehicles in the warehouse,making the application of the AGV in warehouse widely.The application of AGV in Chinese warehouse has been developed rapidly.However,most logistics AGV have the shortness of its flexibility and mobility,therefore,to improve the flexibility of the logistic AGV and the utilization of the room in the warehouse with the consideration of the different and complex motion trajectory,the intelligent movement trajectory planning scheme which is provided by using the computer technology for the logistic company is very important.This is the basis of the exploration of the trajectory following controlling and the trajectory generation of the omnidirectional robot based on Mecanum wheels.Mecanum wheel is an omnidirectional wheel different from traditional wheel as the motion support.The traditional wheels only can motion straight forward and backward,but this can't solve the complex motion in the tanglesome structure of the warehouse.The omnidirectional robot based on Mecanum wheels can motion along any direction making up for the shortness of the traditional AGV.The complicated motion trajectory can be achieved.In this paper,the motion control based on Mecanum wheel walking robot is studied,the following problems are considered: the motion controlling of the trajectory following,the trajectory generation,and the obstacle avoidance,the dynamics of the obstacles.For the research question in this paper,firstly the motion control system is built based on the Mecanum wheel walking robot,integrated with the module of the position controlling and the velocity controlling to adjust the position and speed in real time.The main goal of the motion control system is to realize the flexibility and the accuracy of the motion.The motion control system can be divided into three parts,the position control system,the velocity control system,and the combination of the position control system and the velocity control system.Secondly,this paper gives a strategy for trajectory generation for different road conditions,to plan out the optimization trajectory.With the combination of the trajectory following and the trajectory generation,the outer closed loop control is built.Then,in order to testify the effectiveness and the accuracy of the position state controlling and the velocity state controlling,the algorithm of the trajectory generation.The experiment concludes three parts.The first part is to validate the controlling system with the comparison of the nominal trajectory and the actual path,the nominal velocity and the actual velocity.The second part is to testify the effectiveness of the algorithm of the trajectory generation.The combination of the trajectory following and the trajectory generation are verified by the experiment in the third part.The analysis of the above three methods shows that the logical control system is effective.Regardless of the different motion curves,or the variable control of the obstacles encountered in motion,the motion control methods designed in this paper are very effective.