The Research And Implementation Of Control System For Omni-directional Wheeled Mobile Robot

Along with mobile robot technology continuously evolves and matures, using robot to replace people to complete some mission such as submarine detection, processing and assembling parts, household service, dangerous rescue mission and so on has become more common today. Mobile robot plays increasingly important role in almost all aspects of people’s life. Different with traditional robot, the mobile robot can achieve arbitrary direction movement without changing current status and realizes zero radius steering. Because of its high dexterity and strong flexibility, omni-directional mobile robot has attracted more and more attention of research institutions and Colleges. Meanwhile it also attracted more researchers and scholars’ participation.In the background of RoboMasters2015 Robot Context, this paper researches fourwheeled omni-directional mobile robot with Mecanum wheels and designed a control system based on STM32 chip. In addition, the paper also had an intensive study on the algorithm of mobile robot localization and trajectory tracking.First, the paper analysis the RoboMasters Robot Context’s controlling demand for mobile robot. The solution of mobile robot’s control system depending on mobile robot’s mechanical structure had been designed and typed the selection of specific components.Then according to modular idea, we designed a hardware system based on CAN bus network structure, including high performance STM32 processor board, axis gyroscope, motor drive module, man-machine interactive system and camera processing module, providing the foundation for the algorithms of localization and trajectory tracking.Next the paper analysis the kinematics model and dynamics model four-wheeled of omni-directional mobile robot with Mecanum wheels. We also researched global localization algorithm based on double coded disc and single axis gyroscope. Then we studied global trajectory tracking controller of mobile robot.Eventually, we accomplished the software design of control system on the basis of hardware circuit design and control algorithm. We made corresponding programs for each modular belong to hardware platform and had simulation text and physical text for relevant algorithm.