| In recent years,with the rapid development of robot technology,mobile robot platforms play an increasingly important role in life,and the omnidirectional wheel mobile platform has been widely used.Compared with traditional mobile platforms,the omnidirectional wheel moving platform can be moved in any direction and can be rotated with any turning radius.Since the omnidirectional wheel mobile platform is very suitable for working in narrow space with high mobility requirements,it has received more and more attention.The omnidirectional wheel introduced in this paper is the Mecanum wheel.The Mecanum wheel is an omnidirectional wheel designed by Mecanum AB of Sweden.It can realize 10 directions of movement,such as straight ahead,left and right traverse,45 degree movement,and clockwise counterclockwise rotation.compared to ordinary mobile robots,the Mecanum wheel omni-directional mobile platform has high mobility flexibility and has the advantage of strong load.In this paper,the Mecanum wheel is used,and based on the ROS,a mobile robot control platform is designed.The ROS is an open source project for mobile robots.It integrates many robotics technologies from basic control,map creation and real-time positioning to autonomous navigation.It has rich interfaces and easy maintenance.It has been widely quoted today in the field of robotics.The mobile robot control platform designed in this paper,combined with the motion principle of the Mecanum wheel,and adopts the "X" type installation method,successfully performs remote control of the chassis in ten directions,and can perform shift control during travel,and can adjust the speed of each direction and the angular velocity of the rotation.It can adapt to the movement speed of the robot in different scenarios.At the same time,real-time communication between the Mecanum wheel drive and the ROS is established,and the angular velocity and line speed released by the ROS are converted into the actual data required by the chassis,and the speed required by the ROS and the sensor data are fed back in real time.Realize the real-time communication between the underlying driver and the upper ROS and the autonomous navigation obstacle avoidance function of the chassis,and give full play to the advantages of the omnidirectional wheel,optimize the walking path of the chassis,and achieve high adaptability to the working environment.Finally,the monocular camera mounted on the vehicle body successfully runs the LSD-SLAM algorithm,establishes a semi-dense three-dimensional space map of the surrounding scene,and fuses with the depth information of the laser radar to calculate the depth value difference of the corresponding point,and passes this difference sequentially updates the depth information of the entire point cloud to obtain more accurate depth information of the current map.This paper also carried out a series of practical tests to verify the practicality of the mobile platform and the feasibility of the design concept through actual experimental results. |
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