The Research Of Motion Control System For The Omnidirectional Mobile Platform

In recent years,the rapid development of artificial intelligence and intelligent products gradually appeared people's work and life.Researching on mobile robots has an important impact on the master of the core technology and economic growth,and getting the attention of scientific community and industry.An important aspect of mobile robots,namely athletic performance,which has a direct impact on the flexibility and stability of mobile robots.Therefore,it is of great significance to study and develop an omnidirectional mobile platform with flexibility?stability and ease of operation.The paper focus on the motion control system of robot omnidirectional mobile platform.Researching on the omnidirectional mobile platform about demand design,hardware system,software flow,control algorithm and so on,there are some Research work and results: This paper studies and completes the mechanical structure of omnidirectional mobile platform;Designing and implementing the hardware system of the platform,including the regulator module,the sensor system,the communication system;Building the control system of the platform,studying the kinematic model and designing the PID speed feedback control,and studying the trajectory error optimization scheme according to the model of the platform.Designing the host computer program to achieving and monitoring online the relative movement of the platform trajectory and displacement.Designing the ultrasonic sensor to realizing the platform collision avoidance function.The correctness of the platform model and motion control strategy is verified and the effectiveness of the PID speed control algorithm is proved by the platform test;In this paper,the trajectory error optimization scheme can be well used to control the error in the range of 1cm;The ultrasonic module can play a good effect on collision avoidance function.