Design Of Omni-directional Wheeled Mobile Platform And Location And Path Planning

Robot is the representative reflects of the automatics application and artificialintelligence, and also represents a new level of manufacturing technologydevelopment. The omni-directional wheeled mobile robot (OWMR) is a roboticsystem that can freely move in a plane at random time with three degrees of freedom.It is very suitable for working in more narrow and crowded space. Location of themobile robot is the first problem that needs to be solved, also is the premise ofautonomous navigation, real-time positioning, map building and other intelligencetask. Path planning is an important branch in the field of mobile robot research andalso is a significant symbol of the intelligence of robot. Therefore, the researches ofomni-directional mobile robot’s location and path planning have great significance.Firstly, this dissertation studied the classification of omni-directional mobilerobots and analyzed the advantages and disadvantages of various omni-directionalwheels in details. An omni-directional wheeled mobile robot without offset distancewas designed to meet the need of laboratory. The most significant works of thisdissertation were building the kinematic model according to the specific parameter ofthe omni-directional wheeled mobile robot and using MATLAB to do simulations.The results proved the kinematic model was correctSecondly, owing to the poor accuracy of traditional positioning method’s andcomplex structures of positioning system, this dissertation analyzed the advantages ofthe UWB technology applied in the indoor location. PLUS system produced by theAmerican Time Domain company was introduced and then the most suitable locationmethod was chosen for it.Again, based on the characteristics of laboratory environment, the hybrid methodwas extended to establish the model of the indoor environment, and the methods ofdealing with the obstacles were also put forward. Due to laboratory environments areknown, the global path planning method for path search was chosen.Focused researchand improvement were done on the A star search algorithm.Finally, based on the above theoretical research and simulation, a client softwarefor indoor location was designed. The software’s basic function includes location ofthe omni-directional wheeled mobile robot and displaying it on the screen, dataprocessing, path planning of A star algorithm. On this platform, to study experiments of typical track movement, motion planning and obstacles avoidance navigation is away to test the comprehensive properties of robots. It affords experiment support andtheory proving for the research.