Mobile Robot Control System Based On Omnidirectional Steering Wheel And ROS

An omnidirectional mobile robot control system is designed based on ROS(Robot Operating System).In the hardware,using two steering wheels to drive the mobile robot,choosing lidar,IMU and motor encoder as the navigation data resource.The low-level controller is designed based on Ether CAT master.Under the ROS platform,the drive layer and navigation planning layer of the robot control system are designed.Combining with QT plug-in,the human-computer interaction interface is developed.The autonomous navigation function of mobile robot can be realized through the HMI by remote control.The main work of this thesis is as follows:1.The hardware and software framework of two-steering-wheel mobile robot is designed.The hardware and software are introduced.2.The kinematic model of the two-steering-wheel mobile robot is established,and kinematic analysis is done.Based on the pose error and Lyapunov function stability criterion,a trajectory tracking controller is designed.According to kinematic constraints,the mobile robot maximum speed is limited.Finally,the trajectory tracking experiment is realized in Gazebo simulation.3.Using Xenomai real-time kernel and IgH Ether CAT master to achieve the lowlevel driver of the robot.Under the ROS platform,the navigation layer of control system is constructed based on move-base,and the global?planner path planning is achieved based on A*.Using Qt framework,remote client-side human-machine interface is developed,which mainly including the control window and database interface.4.Finally,the control cycle and communication cycle experiment,and autonomous navigation experiment are carried out for the two-steering-wheel omnidirectional mobile robot,the experimental results verify the practicability of the designed system.