【摘要】 近年来,随着多智能体技术的高速发展,移动机器人成为各科研院所及各公司研究的重点。其中家庭服务机器人的研究成为移动机器人领域的热点方向。本文主要研究一种四轮全向移动平台,包括运动学建模、运动控制系统设计及软硬件实现,实现对移动平台的全方位移动。并采用基于里程计获取的各轮子位移转化为平台实际位姿,与给定位姿比较设计PID反馈控制器,实现误差优化,使得全向移动平台具有稳定性好、精度高、易于控制以及通用性等特点。最后通过不同的实验,验证了本文设计的全向移动平台的有效性和可靠性。更多还原

【Abstract】 In recent years, with the rapid development of multi-agent technology, mobile robots become the focus of the research institutes and the company’s research. The research of home service robots has become a hotspot in the field of mobile robots. This paper mainly studies a four-wheel omni-directional mobile platform, including kinematics modeling, motion control system design and hardware and software implementation, to achieve the omni-directional movement of the mobile platform. It gets the displacement through the odometer to obtain the position of the mobile platform, and compares with a given position and designs the PID feedback controller to achieve error optimization. It makes the omni-directional mobile platform with good stability, high precision, easy to control and so on. Finally, the validity and reliability of the omnidirectional mobile platform are verified by different experiments.更多还原