Structural Design And Navigation Control Of Unmanned Park Mecanum Wheel Transporter

In recent years,with the rapid development and increasingly widespread application of artificial intelligence and mobile robot technology,the application degree of "intelligent park" in major fields such as logistics and production has gradually increased.With the urgent demand for "machine substitution" in logistics and warehousing,manufacturing,medicine and chemical industries,as well as the increasing demand for flexible operation and flexible scheduling in smart parks,we strive to reduce the amount of manual work in the production and logistics process,improve the efficiency and maximum working time of the machine,accelerate the speed of production and delivery,and save costs,thereby improving economic benefits.Aiming at the problem of material transportation and lifting in some occasions with high requirements such as narrow space and limited mobility in the unmanned intelligent park,a Mecanum wheel transporter with both omnidirectional movement and lifting mechanism is designed,which can complete SLAM(simultaneous positioning and mapping)and autonomous navigation functions in unknown environments while having omnidirectional movement.The main research content of this thesis is the mechanical structure design and the realization of autonomous navigation control function of the unmanned park Mecanum wheel transporter,and the specific research content is as follows:First,the mechanical structure of the unmanned park Mecanum wheel transporter was designed.According to the characteristics of the road surface of the transport vehicle moving in the unmanned park,the width and narrowness,the rugged and complex characteristics and the need to complete some production line material loading and unloading tasks with height difference,the designed transport vehicle adopts the Mecanum wheel chassis to realize its all-round movement and the single scissor lifting structure to realize the lifting and lowering of materials of different heights.Secondly,for the problem of transportation mapping of transport vehicles in the park,the Lidar SLAM technology and the construction principle of two-dimensional occupied raster map were studied.Then,the two Gmapping and Hector SLAM algorithms for lidar SLAM mapping were analyzed and compared,and the Gmapping algorithm with better mapping effect was selected through simulation experiments.Finally,for the problem of path planning and dynamic obstacle avoidance during transportation of transport vehicles in the park,the path planning model based on cost map is used to provide a location and environmental information basis for route planning.Then,through the research and analysis of the A* algorithm of global path planning and the dynamic window(DWA)algorithm of local path zoning,the path planning and dynamic obstacle avoidance functions of the transport vehicle on the built map are realized.