Research On Vision Navigation And Motion Control Of Omni-directional Mobile Robot

In the process of material handling of flexible automation production line,in order to improve the safety and accuracy of material handling equipment in autonomous navigation,this paper improves the omni-directional material handling robot,including measurement and improvement of motion accuracy,visual navigation,safety analysis and material handling research.In this paper,the design of the above aspects is expounded,and theoretical analysis and experimental research are carried out.The existing experimental platform is an omni-directional mobile robot based on the Mecanum wheel,including the chassis layer,control system layer and application layer.In order to improve the motion accuracy of omni-directional mobile robot,CCD color vision sensor is installed on the measuring bracket.When the mobile robot does the rotary motion,the position and direction Angle of the mobile robot geometry center are detected.The differential compensation for each wheel of the robot is made,which can improve motion accuracy of the robot.In order to make the control system layer and application layer have good stability,the rubber air spring are used to reduce vibration,which can prepare for the safe driving of visual navigation and material transportation for mobile robot.The Kinect camera is used to carry out the vision navigation research of omni-directional mobile robot,The image captured by the camera are reversed,and OpenCV is used to process images and obtain navigation information.The visual navigation model is designed with the motion characteristics of the omni-directional mobile robot.Tow models of azimuth deviation and azimuth deviation and lateral deviation are established.A visual navigation model based on the geometric center of mobile robot is established,which can improve the motion performance of mobile robot in the narrow space.The incremental PID algorithm is studied,Matlab is used to simulate them.The parameter values of PID are obtained by observing the visual tracking effect.The omni-directional mobile robot is used to do visual navigation experiment and the navigation line is visually guided by two different visual navigation models.Through the visual navigation experiment,the mobile robot can quickly correct the azimuth deviation and lateral deviation,which can anable the mobile robot to follow the navigation path of the line and arc.The omni-directional mobile robot is used to carry out material handling experiments,and the application layer is designed and installed.Through multi-sensor coordination,mobile robots can be transported by themselves.The feasibility of the coordinated work of the omni-directional mobile robot is verified by experiments and the effectiveness of motion control is proved at the same time.