Research On Motion Control Of Three-wheel Omni-directional Mobile Robot

Robot soccer, referring to multi-domain and multi-disciplinary, is a good test bed for multi-agent system and artificial intelligence theory. So far, it has been focused by many research institutes and colleges, more and more researchers and scholars pay attention to it.This thesis presents the research on motion control system of omni-directional mobile robots with three wheels for the RoboCup's Middle Size Robot League. The thesis, firstly, builds the dynamic models of omni-directional robots, and decides to use the control based on dynamics model to achieve motion control of soccer robots by analyzing the characteristics of its movement. In order to verify the whole control system and the control strategy, a simulation model of motor control system had been founded on base of BLDCM mathematical model with Matlab/Simulink. The results of simulation were consistent with the theoretical analysis, which proved the control system was feasible. Secondly, some control algorithms for omni-directional mobile robots with three wheels are designed, including posture stabilization controller base on the input decoupling and the trajectory tracking controller base on Lyapunov stability theory, so the tracking performance of system has the global stability and the independent control of both position and orientation for a mobile robot is realized. Simulation experiments validate the stabilities of all control algorithms, and the robustness and practicability of all algorithms are also verified.Finally, the motion control system used a double DSP structure, and DSP microprocessor TMS320LF2407A with high advanced capacity is used as the chief chip to design the bottom movement control system from the basic tasks of RoboCup's middle-league soccer robots. For hardware part, the control system of the microprocessor and BLDCM controller modular are designed according to the modular thought. For software part, the whole modules are programmed in foundation of the hardware platform, and the program flow charts of the various modules are given.