Design Of Omnidirectional Wheel Mobile Intelligent Body Control System

The moving agent with tracking function has been widely used in many fields such as industrial and civil applications.Among the research of moving agent target tracking,the real-time and accuracy of the target tracking algorithm and the flexibility and stability of the motion control are important guarantees for the target tracking of the moving agent.The basic Camshift algorithm is widely used in target tracking because of its small computation and fast tracking speed.However,its application effect is limited due to the lack of accuracy in complex environment.Aiming at the problems of low accuracy performance of basic Camshift algorithm in complex environment,this thesis uses an improved Camshift tracking method to achieve the target tracking.Among the target recognition and tracking problems,the improved Camshift method transforms the image from RGB space to HSV space,calculates the back projection of the target area according to the color histogram,and then performs Camshift tracking based on the morphological operation of the back projection.To a certain extent,this method suppresses the interference of the complex background to the target and improves the accuracy of the target tracking.The experimental part realizes the target tracking of the omni-wheel moving agent by using the improved Camshift method.The experimental results verify the accuracy of the improved Camshift method and the usability of the method in the omni-wheel moving agent target tracking.In order to enhance the flexibility of agent movement,this thesis designs a moving agent based on omnidirectional wheel device.Omni-wheel moving agent is inevitably affected by external disturbances during the course of the movement.In this thesis,variable structure sliding mode method is used to control omni-wheel moving agent system since the traditional method can not restrain the uncertainty and external disturbances of the controlled system.Firstly,the kinematics model of the system is established,then the sliding mode control law of the system is designed,and finally the Lyapunov function is used to prove the stability of the method.Compared with the traditional PID control method,the sliding mode control method owns insensitivity to bounded disturbance and parameter change,which could weaken the influence of load variation and random disturbance on system control performance and improve the robustness of system control.The simulation part contrasts the effect of sliding mode control and PID control.Simulation results verify the robustness of variable structure sliding mode control.