Four-wheel Omnidirectional Mobile Robot Path Planning And Motion Control Research

With the increasing demand for mobile robots in all walks of life,research on mobile robot technology is becoming more and more popular.This paper focuses on two key technologies in the field of mobile robot research,path planning and trajectory tracking.The main research in this paper is as follows:(1)Structure and control system design of four-wheel omnidirectional mobile robot.Determine the vertical distribution of chassis structure to maximize the flexibility of mobile robots.According to the actual requirements,the hardware module architecture of the control system is designed,and the functions of each module and the optional hardware are analyzed,which lays the foundation for the subsequent prototype production.(2)Path planning of four-wheel omnidirectional mobile robot.Based on the deep study of traditional immune genetic algorithm,a firework explosive immune genetic algorithm based on elite opposition-based learning is proposed.The test results with standard test functions show that the improved algorithm can find the optimal solution faster and better.The improved algorithm is used to solve the problem of path planning.The simulation results show that the improved algorithm is better than the traditional algorithm in path planning.(3)Motion control of four-wheel omnidirectional mobile robot.The kinematics model and motion error model of four-wheel omnidirectional mobile robot are established.According to the kinematics model and motion error model,the trajectory tracking controller is designed based on the Lyapunov function of the system.The simulation experiment shows that the mobile robot can track the trajectory well and the tracking error is small after tracking the given trajectory,although the initial position and attitude angle will cause the chattering at the beginning of tracking trajectory.(4)Development and simulation of path planning software.Based on the development platform of MATLAB 2016 a,the path planning software of mobile robot is developed by using the development tool of graphical user interface of MATLAB GUI.The simulation results show that the software can effectively accomplish the task of path planning and has strong customization.