| With the development of modern industry and the strength of coopetaiton integration and divetsity in the process of production,higher request to modern logisties system is put forward.In order to meet the needs of logisties system,automated Guided Vehiele is widely used in modem logisties for its high flexibility and smaller working space.According to the need of practical operation,an omni-directional wheeled mobile robot is designed and a 3D modeling of the structure is modeled,and the static force on the structure is analyzed by ANSYS to provide the basis for structural modification.What's more,based on the C++ developed a mobile robot design calculation software system.The control system ofomn-directional wheeled moile robot is built.therefore,the motion analysis of theomni-directional mobile robot is analyzed,the dynamic model of the omni-directional mobile robot is established and simulation is carried out by MATKAB.And with the introduction ofBack-stepping method and trajectory tracking with mobile robot,a motion control law is proposed and the simulation is carried out.At last,the lateral localization of mobile robor is completed using two analog ultrasonic and the pulse digital filter for signal filtering method is adopted which can get a good result.The experimental results show that,the positioning method designed in this paper for lacalizing moile robot not only ensure the mobile robot reaching to the target under the premise of positon and orientation accruacy,but also it improve the motion stability of the mobile robot in ptath tracking. |
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