Research And Design On Motion Control System Of Omnidirectional Mobile Robot Base On Encoders To Locate

In this dissertation, the main purpose is to research positioning and motion control system ofthree-wheel omni-directional mobile robot. The locating mechanism used for omni-directionalmobile platform is designed by improving localization device base on two encoder, by correctingthe installation accuracy of this localization device by experimentation, the localization deviceprovided high location precision by the calculation method is designed in the end. The pathfollowing control method base on Bezier curve is designed after the implementation of localizationand the kinematics analysis of the robots. Robot can realize path tracking control on the plane, andachieves a goodcontrol effectin theexperiment.The whole system design mainly includes three part, the design of machine construction,circuit and the programming, involves the building of the whole system, the realization of robotpositioning and motion control algorithm.etc. On the hardware side, two MCU are selected as thecore controller, the power module circuit, motor drive circuit, signal pick-up circuit of sensor andLCD display circuit.etc are designed and implemented, and PCB boards are completed. On thesoftware side, programs of localization algorithm, motion control algorithm and motor speedincompletedifferentialPID algorithm.etcaredesigned.The system finish controlling task with main follow control manner, improve the systemmultitasking capability, the circuit be designed by modularization idea, makes the control system iseasytoexpandandachievestability.