The Motion Planning And Control Algorithm For Omnidirectional Mobile Robot

With the change of major contradictions in China,the demand for mobile robots keeps growing.Mobile robot have already shown its important role in industry,aerospace field and military field in the past decades.Nowadays,mobile robots are gradually used in service industry and people's normal life.In these years,many mobile-robot-like products are put into market like Sweeping robot and Self-balancing scooter whose core technology is mobile robot technology.All of those products are based on non-omnidirectional mobile robot which has non-holonomic constraint and has poor ability in complex environment.Thanks to its specially structure,omni-directional mobile robot is more flexible and has wider applicability which matches people's future expectations.To improve mobile robot's practicality and user experience of tele-operation system,this paper works on motion planning and control algorithm of mobile robot and builds a tele-operation system of mobile robot based on shared control scheme.First,the kinematics and dynamics models of three-wheel omnidirectional mobile robot are put forward.Then two model predictive controllers respectively based on kinematics and dynamics models are designed.The classic potential field method is reform and used in global motion planning for omnidirectional mobile robot.To show the performance of proposed controllers and motion planning algorithm,simulations based on MATLAB are carried out.To overcome the disadvantage of potential field method that it's easy to fall into local minima and to keep its good real-time planning ability,this paper combines A* algorithm and potential field method as a new motion planning algorithm,which A* is used to global planning while potential field is used to local planning.To show the performance of proposed combine planning algorithm,simulations based on MATLAB are carried out.In the end,this paper builds a omnidirectional mobile robot tele-operation system based on shared control scheme,which can guarantee the safety of mobile robot and enhance user experience while user controls the mobile robot.Three contrast experiments based on the proposed tele-operation system are carried out to show its feasibility.