| With the rise of robot technology in the new era,the demand for outdoor and indoor cleaning robots is increasing,including cleaning robots in outdoor parking lots and shopping malls are also gradually emerging,for how to efficiently achieve the above common scenarios and some complex road conditions to achieve stable and safe cleaning work,need to be resolved and invested a lot of research and exploration.This paper focuses on how to solve the problem of four-wheel independent drive independent steering,i.e.4WID/S cleaning robot can operate efficiently under different outdoor road conditions.This paper mainly analyzes and studies the design of 4WID/S kinematic chassis and suspension,the odometer calibration method based on kinematics,and hardware software optimization,motion control algorithm and path planning.The main work of this article revolves around the following:(1)Analysis of the outdoor environment and cleaning robot indicator design requirements to give the overall design plan,completed the mechanical structure model design,optimize the design of an independent four-link suspension mechanism.Using Adams to build the simulation environment given the simulation conditions,the suitable spring stiffness is obtained,the stability and reliability of the design mechanical structure are verified,and the spring stiffness selection of the robot is proposed by Adams motion simulation.(2)The 4WID/S mechanism of outdoor cleaning robot is analyzed,the conversion relationship between the space coordinate system and chassis coordinate system of the cleaning robot is established,the kinematics of the cleaning robot is analyzed,the motion mode is summarized,the kinematic parameter errors brought about by independent shock-absorbing suspension and wheel slip are analyzed,the odometer calibration method based on kinematics intrinsic optimization is established,and the verification is carried out.Finally,by setting up Gazebo simulation environment combined with TEB local path planning algorithm,the smoothing of the robot's motion trajectory is realized.(3)Complete the design of cleaning robot platform system,including cleaning robot hardware calculation and selection tasks,software module design,give the software control process and motion control system to achieve the continuous switching mode of cleaning robot movement mode and cleaning robot omnibility movement,improve the robot's motion efficiency,and finally realize the cleaning robot's spatial position tracking and stable control.(4)The physical experiment verification of cleaning robot is carried out,including:the experiment of motion control and ROS communication of cleaning robot,the experiment of barrier-crossing performance and suspension buffer effect,and the physical experiment test of the whole-covering cleaning trajectory track of bow type,which verifies the effectiveness of optimizing the design and realization of cleaning robot platform in this paper. |
PDF Full Text Request