| This paper introduced the research of the omni-directional mobile robot control system,it was designed a set of hardware control platform for the omni-directional mobile robot with the background of the parking robot system,and achieved the motion control algorithm and trajectory control of the omni-directional mobile robot algorithm.In this paper,analyzed the functional requirement of the parking robot,compared the different structural designs,and finally got the scheme of the Parking robot.The parking robot was adopted the omni-directional wheel as the mobile chassis,which was very suitable as the carrier of the research and designed of the omni-directional mobile robot control system.Then analyzed the kinematics and dynamics of the omni-directional mobile robot.And analyzed the motion model of the omni-directional mobile chassis with four mecanum wheels,obtained the motion control algorithm of the omni-directional mobile chassis.In order to achieve the autonomous navigation of the parking robot,through the analysis and comparison of different positioning and navigation methods,and finally determined to use the laser radar and inertial navigation as sensor for the parking robot.Under this set of the sensors,analyzes navigation strategy to achieve the travel path of the control algorithm of the omni-directional wheel mobile robot.In order to meet the functional requirements of the parking robot,we had analyzed the functional requirements of the hardware platform of the control system,and designed a universal hardware platform for the omni-directional mobile robot.The hardware platform mainly includes the main controller and I / O module.The main controller as the brain,mainly for the achieve of motion control algorithms,communication with other systems and made a strategic decision.I / O module as an auxiliary module,mainly for sensor input,external signal input and other functions.First of all,design schematic,simulation,the final design of the PCB and produce the appropriate hardware platform.The motion controlled algorithm and the trajectory control algorithm of the omni-directional mobile robot can verified by using this hardware platform.Finally,the software design of the whole control system is described,and the overall flow chart of the main controller and I / O module is analyzed respectively.And the trajectory control in the main controller is applied to the PID algorithm for in-depth analysis.Finally,we designed the control system hardware platform used in the parking robot,the hardware system and our software algorithms were tested.After testing,the entire hardware platform is running very stable,the control algorithm also reached the desired effect. |
PDF Full Text Request