Research On An Omni-directional Mobile Robot

With the continuous advancement of social science and technology,mobile robot technology has gradually matured.Compared with humans,robots have unique advantages that can replace manualtasks such as radiation monitoring,high-risk operations,space exploration,and home services.Mobile robots will become an integral part of social production.However,traditional wheeled mobile robots can only move back and forth in a direction perpendicular to the axis of the wheel,and cannot move sideways.Therefore,research on omni-directional mobile robots has become one of the main directions for the development of mobile robots.It can move in any direction without Changing the attitude of the car body can also make the car body to realize a zero-radius rotation when the direction of robot changes,which has attracted the attention of many researchers.Based on the second Robot competition in Sichuan Province,this paper developed an omni-directional mobile robot based on a three-wheeled layout of Swiss wheels through preliminary investigation and theoretical analysis.According to the requirements of the competition,a circuit control schemebased on STM32 as the main control chip was designed.The control scheme also performs in-depth research on the omni-directional mobile robot localization algorithm.First of all,according to the requirements of the robot competition,this paper starts from three parts: wheel selection and layout method,wheel drive motor selection,mobile platform design,grab and lift mechanism design,to design an omni-directional mobile robot that meets the requirements of the competition.The robot provides a theoretical analysis for the control system design.Then,this paper analyzes the requirements of the robot contest and the mechanical structure of the omni-directional mobile robot,designed an omni-directional mobile robot control system.Based on the modular circuit design,selects the appropriate core control chip and electronic control device for the control system,and then completes each module designing.Circuit design provides the basis for the implementation of localization algorithm control.Finally,this paper analyzes the kinematics of an omnidirectional mobile robot,establishes a positive kinematics model and an inverse kinematics model,studies the location algorithm using extended Kalman filtering in the platform,and then creates a map based on ROS to the real terrain of the laboratory,and completed the experimental verification of the localization algorithm.