Design Of Independent Driving And Steering Mobile Robot

With the rapid development of new technologies such as IoT and intelligent hardware,the research on mobile robots involving interdiscipline is also in full swing.The application fields of mobile robots are also expanding,gradually extending from the industrial field to individual families and service-oriented industries.Mobile robots combining technologies such as big data and image processing are more intelligent and more reliable.As a kind of mobile robots,four-wheel mobile robots have the advantages of strong carrying capacity,high energy efficiency,stable operation and other advantages.At present,the influence of them used in outdoor exploration,intelligent storage,new logistics and other fields is gradually expanded.Therefore,It is of practical significance and practical value to study it deeply.In this paper,the research and design of four-wheel independent driving and independent steering mobile robots consist the following aspects:(1)Designed independent drive and steering structure of the robot.Through the theoretical analysis and the actual equipment selection,using SolidWorks to make a three-dimensional rehearsal of the entire mechanical part,and constantly modify the design,a robot platform was ultimately designed and built successfully.(2)Simulink model of conventional PID controller and fuzzy PID controller is established respectively according to the stepper motor mathematical model.By designing the parameters of different control links and so on,the simulation results of the two controllers are compared and analyzed.And the conclusion that the fuzzy PID controller established in this paper has the advantages of small overshoot,fast stability and high control precision is obtained.(3)there is a project design of the robot control system from the safety and stability,choosing a stable and reliable CAN bus communications and Bluetooth communications.In addition,it systematically analyzed the hardware resources of the lower computer system,designed the lower computer system based on ATMega2560 MCU and developed a multi-threaded architecture PC control software by using of Visual Studio 2015.The UI design is simple and easy to operate,and the system design is stable.(4)using the built-in physical platform,a comprehensive experiment of different modes of movement,load,steering and other indicators were carried out.The reasons for the error were analyzed and the solutions were given.At the same time,the experimental results also verified that the position control effect of the fuzzy PID controller is better than conventional PID controller.