Design Of Omnidirectional Mobile Robot Control System

The research on the control of mobile robots,walking has become a hotspot of robot research in recent years.The research of the subject is based on the family service robot project cooperated with Nanjing Six Dynasties Company.The robot moves in an all-round way,making the movement of the robot more flexible.The research is based on real-time positioning and map creation with high degree of attention at present,called SLAM(simultaneous localization and mapping).The service robot with this technology can help the human to complete the indoor cleaning,outdoor adventure and so on.The subject is mainly for indoor robots,making the robot can be manipulated to walk in all directions,walk independently,avoid obstacle and reach the designated location,making the robot more powerful and more practical.At first,we introduce he background,significance and research status in the domestic and overseas of mobile robot technology and SLAM technology in the thesis.The main algorithms used in the establishment of the map are Grid-based Fastslam,in which the principle of particle filter is used,Monte Carlo localization algorithm based on particle filter(MCL)and the creation of occupied raster map are studied respectively.Then the algorithm is applied to our service robot,built on the omni-directional motion platform with the use of the robot operating system(Robot Operating System,ROS).At the beginning,we use the notebook computer to debug the system,the lidar was used to mapping.The parameters of the robot were optimized to make the robot successfully completed the tasks that contain the mapping,avoiding obstacle,reaching the target point,charge the system autonomously,voice control.Then we transplant system to the Raspberry pie for development,and achieve controlling robot omni-directional mobile platform for robot by the phone to control the robot walking,we program about socket in the raspberry to accept mobile phone information,and control the robot to run by the stm32 processor,Collecting all kinds of sensors on the robot upload to the raspberry pie to deal with.The robot can autonomously charge and be controlled by voice.According to the combined effect of the mobile phones,raspberry pie,stm32 three terminal achieves the tasks about synchronization of the robot positioning and map creation,running.Finally,the SLAM,omnidirectional mobile robot and ROS operating system are combined to debug.The stability,accuracy and robustness of the system are demonstrated.We point out the innovation of this design and the place to improve,the work of the future.