基于复合控制算法的全向移动平台设计与实现
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摘要
设计并制作了一款基于麦克纳姆轮的全向移动平台,为保证移动平台的高精度运动和灵活避障,提出了一种复合控制算法。移动平台采用4个麦克纳姆轮为驱动轮并建立了在环境坐标系下的数学模型,采用上、中、下3层分布的电路控制系统,并以二维模糊PID(proportion integral differential)控制器、Bang-Bang算法和提出的避障算法构成复合控制器,实现移动平台在室内灵活避障和高精度运动。研究结果表明:设计的移动平台运动方式灵活,能够在二维环境下保持良好的避障能力和较高的运动精度。
A mobile platform based on Mecanum wheel was designed and fabricated. In order to ensure high precision motion and flexible obstacle avoidance of mobile platform,a compound control algorithm was proposed.Four Mecanum wheels were equipped on the mobile platform as the driving wheels. Basis on that,the mathematical model of the mobile platform in the environment coordinate system was established,and the circuit control system of the mobile platform was divided into upper,middle and lower layers. The mobile platform combined two-dimensional fuzzy PID controller,Bang-Bang algorithm and the obstacle avoidance algorithm to form a composite control algorithm,which realized flexible obstacle avoidance and high-precision motion of the mobile platform indoors. The research results show that the mobile platform is flexible in motion mode. It can maintain better obstacle avoidance ability and higher motion accuracy in two-dimensional environment.
A mobile platform based on Mecanum wheel was designed and fabricated. In order to ensure high precision motion and flexible obstacle avoidance of mobile platform,a compound control algorithm was proposed.Four Mecanum wheels were equipped on the mobile platform as the driving wheels. Basis on that,the mathematical model of the mobile platform in the environment coordinate system was established,and the circuit control system of the mobile platform was divided into upper,middle and lower layers. The mobile platform combined two-dimensional fuzzy PID controller,Bang-Bang algorithm and the obstacle avoidance algorithm to form a composite control algorithm,which realized flexible obstacle avoidance and high-precision motion of the mobile platform indoors. The research results show that the mobile platform is flexible in motion mode. It can maintain better obstacle avoidance ability and higher motion accuracy in two-dimensional environment.
引文
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2 Shahrooz S,Rasoul S,Pooyan S,et al.control and construction of a four Mecanum-wheeled robot[C]//2017 IEEE 4th International Conference on Knowledge-Based Engineering and Innovation.Tehran,I-ran:Institute of Electrical and Electronics Engineers Inc,2018:315-319
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6张星.基于麦克纳姆轮的全向AGV运动控制技术研究[D].重庆:重庆大学,2015Zhang Xing.Research on omni-directional AGV motion control technology based on mecanum wheel[D].Chongqing:Chongqing University,2015
7华亮,冯浩,顾菊平,等.基于单超声波传感器的移动机器人沿墙导航策略[J].工程设计学报,2008(3):206-212Hua Liang,Feng Hao,Gu Juping,et al.Mobile robot navigation strategy along the wall based on single ultrasonic sensor[J].Chinese Journal of Engineering Design,2008(3):206-212
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9唐炜,刘勇,于香志,等.Mecanum轮全方位移动小车嵌入式控制系统的设计[J].江苏科技大学学报,2014,28(5):473-479Tang Wei,Liu Yong,Yu Xiangzhi,et al.Design of embedded control system for mecanum wheel omni-directional mobile car[J].Journal of Jiangsu University of Science and Technology,2014,28(5):473-479
10 Zhang Z M,Zheng R H.Control algorithm of mecanum-wheel mobile platform based on fuzzy PID[J].Applied Science and Technology,2017,44(6):53-59
11邢峰,张让辉,王敦富,等.模糊PID控制仿真与实验研究[J].重庆工商职业学院,2012,40(10):147-149Xing Feng,Zhang Ranghui,Wang Dunfu,et al.Research on simulation and experiment of fuzzy PID control[J].Chongqing Vocational College of Industry and Commerce,2012,40(10):147-149
12富志凯,邢建春.基于复合控制算法的移动机器人沿墙导航研究[J].计算机应用及软件,2012,29(9):234-236Fu Zhikai,Xing Jianchun.Research on mobile robot navigation along the wall based on composite control algorithm[J].Computer Applications and Software,2012,29(9):234-236
2 Shahrooz S,Rasoul S,Pooyan S,et al.control and construction of a four Mecanum-wheeled robot[C]//2017 IEEE 4th International Conference on Knowledge-Based Engineering and Innovation.Tehran,I-ran:Institute of Electrical and Electronics Engineers Inc,2018:315-319
3 Baeksuk C.Mobile robot position control algorithm based on multiple ultrasonic distance sensors[C]//ICCAS 2015-2015 15th International Conference on Control,Automation and Systems,Proceedings.Busan Republic of Korea:Institute of Electrical and Electronics Engineers Inc,2015:1238-1240
4 Ehsan M,Hadi K,Mohsen M.Self-tuning fuzzy PID control of a four-mecanum wheel omni-directional mobile platform[C]//26th Iranian Conference on Electrical Engineering.Mashhad,Iran:Institute of Electrical and Electronics Engineers Inc,2018:816-820
5袁宇龙.室内自主移动机器人沿墙导航研究[D].重庆:重庆大学,2014Yuan Yulong.Research of autonomous mobile robot navigation along the wall on indoor[D].Chongqing:Chongqing University,2014
6张星.基于麦克纳姆轮的全向AGV运动控制技术研究[D].重庆:重庆大学,2015Zhang Xing.Research on omni-directional AGV motion control technology based on mecanum wheel[D].Chongqing:Chongqing University,2015
7华亮,冯浩,顾菊平,等.基于单超声波传感器的移动机器人沿墙导航策略[J].工程设计学报,2008(3):206-212Hua Liang,Feng Hao,Gu Juping,et al.Mobile robot navigation strategy along the wall based on single ultrasonic sensor[J].Chinese Journal of Engineering Design,2008(3):206-212
8王明明,朱莹莹,张磊,等.麦克纳姆轮驱动的移动机器人自适应滑模控制器设计[J].西北工业大学学报,2018,36(4):627-635Wang Mingming,Zhu Yingying,Zhang Lei,et al.Design of adaptive sliding mode controller for mobile robot based on mecanum wheel[J].Journal of Northwestern Polytechnical University,2018,36(4):627-635
9唐炜,刘勇,于香志,等.Mecanum轮全方位移动小车嵌入式控制系统的设计[J].江苏科技大学学报,2014,28(5):473-479Tang Wei,Liu Yong,Yu Xiangzhi,et al.Design of embedded control system for mecanum wheel omni-directional mobile car[J].Journal of Jiangsu University of Science and Technology,2014,28(5):473-479
10 Zhang Z M,Zheng R H.Control algorithm of mecanum-wheel mobile platform based on fuzzy PID[J].Applied Science and Technology,2017,44(6):53-59
11邢峰,张让辉,王敦富,等.模糊PID控制仿真与实验研究[J].重庆工商职业学院,2012,40(10):147-149Xing Feng,Zhang Ranghui,Wang Dunfu,et al.Research on simulation and experiment of fuzzy PID control[J].Chongqing Vocational College of Industry and Commerce,2012,40(10):147-149
12富志凯,邢建春.基于复合控制算法的移动机器人沿墙导航研究[J].计算机应用及软件,2012,29(9):234-236Fu Zhikai,Xing Jianchun.Research on mobile robot navigation along the wall based on composite control algorithm[J].Computer Applications and Software,2012,29(9):234-236