Research On The Method Of Motion Correction And Vehicle Positioning Of Omnidirectional Mobile Parking Robot

With the rapid economic growth and the continuous improvement of urbanization,China’s car ownership continues to rise.Land in the core area is expensive.The contradiction between the increasing number of cars and the scarcity of urban parking spaces is becoming increasingly prominent.Using automatic parking robot instead of manual parking can effectively alleviate the problem of "difficult parking".Among the different types of parking robots,the omnidirectional mobile parking robots without a platform does not need external devices,has high flexibility and strong mobility,but it is more difficult in technology at the same time,especially in the control technologies such as motion correction and vehicle positioning.The dissertation investigates the research status of parking robots and their motion control methods and positioning technologies at home and abroad,and then determines a four-wheel independent drive four-wheel independent steering gripping parking robot program and defines its related parameters.And mathematical models of kinematics and vehicle positioning scenes were established.For the parking robot’s motion correction control,two kinds of simplified rectification trajectories are compared and selected,and the smooth motion rectification trajectories are calculated by combining the motor characteristics of the robot.Then the track following controller is designed to realize the feedback control,and the whole process of motion correction is simulated with Matlab and Adams.For the vehicle positioning method of parking robots,a dual lidar positioning scheme is designed,and a lidar data processing algorithm based on improved DBSCAN and least square method is designed.Then the feasibility of the algorithm is verified by the simulation of the collected data.Finally,the performance test is designed according to the application scenario and completed on the parking robot experimental platform.The trajectory algorithm of parking robot motion correction is tested,which is divided into single initial position offset correction test and continuous motion correction test,to verify whether its accuracy meets the motion correction requirements.The vehicle positioning scheme of parking robot is tested,the stability accuracy and correctness accuracy of the algorithm are obtained,and the feasibility of the algorithm is verified by the car entering test.The test results show that the motion correction trajectory algorithm and vehicle positioning method proposed in this dissertation can meet the requirements of motion accuracy and positioning accuracy.