Design And Experimental Study Of Three-Way Omnidirectional Mobile Robot

Since the 1950 s,computer technology,mechatronics technology,information technology and automation technology have developed rapidly.Mobile robots have also experienced a period of rapid development.At the same time,international competitions in the field of aerospace and deep-sea exploration provided a driving force for the development of mobile robots.This paper designed a three-wheel omnidirectional mobile robot that can accurately find the target position and work together to complete specific tasks through multiple-robot formation.This paper first introduced the research background and significance of mobile robots,discussed the current research state,summarized the development direction,and explained the multi-robot formation.Secondly,the three-wheel omnidirectional mobile robot platform was built.The robot was modular in design,including power modules,navigation modules,ranging modules,drive modules and central control modules.This paper focused on the sensor system and the drive system.The robot used the ultrasonic wave to measure distance,the gyroscope to transmit data during navigation in order to determine the deflection angle of the robot,the orthogonal two encoders to determine the travel route,and the three stepper motors respectively to drive the three wheels of the robot.PID feedback control was used in the driving process.In order to accomplish the purpose of collaborative work,this paper also analyzed and researched multi-robot formation.When controlling multiple-robot formation,the control model must be established.When the multiple-robot formation advanced,one of the robots was used as a reference point,and Centralized Control and Follower Control Algorithm were used.Finally,experiments were conducted on a three-wheel omnidirectional mobile robot platform.The robot travelled in a straight line as it moved forward in the experiment;it can correctly find the target during the tracing experiment;it can cooperate with each other when the team works together.The experimental results show that the three-wheel omnidirectional robot system designed in this paper has the characteristics of omnidirectional motion,structural stability,high efficiency,and coordinated operation.