Research On The Design Of Three-wheeled Omnidirectional Mobile Robot And The Method Of Odometer Correction

With the development of computer technology and artificial intelligence,mobile robots are widely used in many fields,which can effectively help people complete various tasks.In this thesis,we focus on the research on the motion control and odometer correction methods of the mobile robot,builds the Three-Wheeled Omnidirectional Mobile Robot(TWOMR),and develops the corresponding software and hardware systems.A trajectory tracking controller suitable for TWOMR is designed based on model predictive control theory.Then based on this,we propose an odometer correction method based on the extended Kalman filter used to improve the motion accuracy of the three-wheel omnidirectional mobile robot.The main work of this thesis is as follows:Firstly,the mechanical structure of the TWOMR chassis is designed from the perspective of stable structure,low cost and easy modification.Then,the management nodes of the chassis system based on the Robot Operating System are designed,which implemented the information interaction between the host computer and the chassis controller and completed the issuance of control commands and the collection of sensor information,etc.task.Secondly,the kinematics model of TWOMR is established.Aiming at the shortcomings of traditional trajectory tracking methods,a tracking controller based on MPC was designed for TWOMR.A simulation model is built under Matlab,and a variety of trajectory tracking experiments are performed to verify the effectiveness of the designed controller control law.Thirdly,the source of the odometer error of the mobile robot was analyzed,and an odometer correction method based on extended Kalman filter was designed for TWOMR combined with the designed MPC trajectory tracking controller.Then,compared with the traditional method,simulation and actual experiment meets expectations which verified the effectiveness of the algorithm.