Research On Trajectory Tracking Control And Precise Positioning Technology Of Omnidrectional Mobile Robot

The omnidirectional mobile robot has become a popular research direction because of its unique movement characteristics.It is characterized by being able to move in any direction in the plane without any restrictions on movement,which makes the robot capable of narrow space and no turning Work in other situations.The trajectory tracking control and precise positioning are very important issues in the field of mobile robots.For the research of the two,it is very helpful in improving the accuracy of motion control and work positioning in practical applications of mobile robots.This paper mainly studies the trajectory tracking and precise positioning of omnidirectional mobile robots including:First,the mechanical structure of the omnidirectional mobile robot is designed,and based on the functions to be realized by the robot in this subject,the overall scheme of the control system based on two controllers is designed.Then the functions and features of each hardware module are introduced respectively.Secondly,the omnidirectional mobile robot was kinematically modeled,and the trajectory tracking problem was analyzed.Then,the backstepping inversion method was used to design the trajectory tracking control law,and the stability of the trajectory tracking control algorithm was proved by the barbalat lemma.This algorithm has carried on the tracking simulation experiment,has verified the practicality of the algorithm.Thirdly,the feasibility of precise positioning based on two-dimensional codes is analyzed,the principle of precise positioning based on a single two-dimensional code is studied,and multiple two-dimensional codes are designed for precise positioning according to different situations such as different station points and automatic charging.Positioning strategy,then developed a visual recognition algorithm in the station and automatic charging application scenarios.Finally,on the basis of completing the research on the mechanical structure of the mobile robot and related control algorithms,the control system of the omnidirectional mobile robot was developed,including the design and code development of the control system software,and then carried out on the robot prototype designed in this paper.Algorithm verification.