Study On Mecanum Wheel Mobile Robot Simulation Platform Based On Unity3d

The autonomous mobile robot developed rapidly and widely used,and the navigation and positioning are two important issues in the research of mobile robot,so research for robot algorithm is a research hotspot.In the writing of the robot algorithm,there are two ways to debug the algorithm,one is to download the program to the robot prototype,and observe the state of prototype;the other is to establish a virtual prototype by using simulation software,and observe the running effect of algorithm.Aiming at that the algorithm simulation software like MATLAB and Webots having poor simulation results,using complex problems,this paper use the Unity3 d engine to build a simulation platform,the simulation platform include joints,sensors and the simulation environment.An imported three-dimensional model can be quickly set up into a virtual prototype by using motion and sensor module,and a virtual simulation environment can be quickly build by using stochastic road and test obstacle module,to simulate the virtual prototype.Then this paper chooses the Mecanum wheel mobile robot autonomous navigation as an example,introduce the algorithm simulation by using simulation platform.In the simulation platform,the A* algorithm is improved,the two-dimensional space navigation of A* algorithm is improved to three-dimensional space navigation;the navigation environment is improved from the known environment to the unknown environment navigation,so the Mecanum wheel mobile robot can autonomous navigation in the unknown three-dimensional terrains.Finally this paper establishs Mecanum wheel mobile robot virtual prototype and three-dimensional terrain environment,simulate the improved algorithm,and output the simulation results.The test experiment of the actual prototype is designed,and the trace of the virtual prototype is compared with the trace of the actual prototype to verify the reliability of the simulation platform.The simulation platform built in this paper has some advantages such as easy to use,good simulation effect,self supporting model and so on,and it provides a new method for the simulation of robot algorithm.