Translated Abstract
Mobile robot is one of the most attractive research directions in the field of automatics and robotics. Multi-mobile robot system is a typical multi-agent system. Not only centralized control systems but also distributed control systems both relates to the knowledge of many subjects such as mechanics, electronics, intelligent control, communication, computer decision-making and so on. It is a good experiment plat to study the intercross and amalgamation of multi-subjects.This paper discussed the problems of mechanical structure, kinematics theory, bottom control system and the operation of the gyro’s output signal in the omnidirectional mobile robot. On the basis of analyzing the development status and key technologies of the omnidirectional mobile robot, the work below was done.1. The paper gave a particular and systemic discussion of the motion and drive manner of the omnidirectional mobile robot. The omnidirectional mobile robot which has the structure of three wheel drive can move with three degrees of freedom on the plane simultaneously. And the paper also gave the design analysis and project argumentation of the robot’s main mechanical part. Then two robots were produced based on the results of analysis.2. In this paper, we established the robot’s kinematics model based on the analysis of the structure of omnidirectional mobile robot and the omnidirectinal wheels. The conversion relation of the omnidirectional mobile robot’s absolute coordinate system and the bodywork’s coordinate system was given. The expression of the robot’s max translational speed in any directions of the circle was figured out. And the matching flow to control the three omnidirectional wheels was also given in the paper.3. PCM3350 is the core of the omnidirectional mobile robot’s control system. With the help of motion controller of Lm629, the double closed loop control system is formed. With the help of the motion controller, it not only simplifies the design of the software of the control system but also enhances considerably its reliability and performance. In the meanwhile the robot can responds rapidly and has a high control precision. At the same time, it settled the problem of electromotor’s stall. So the robot’s dribbling, pass, interception, defense, shoot, cooperancy and other skillful motions become easier to realize.4. The self-localization of the omnidirectional mobile robot is the precondition to realize all kinds of difficult tasks and is the key point for autonomous control. This paper gave the principle to calculate the robot’s location and direction angle by the use of encoder and the gyro’s output signal. At the same time, based on the specialty of gyro’s output signal, the paper put forward a scheme that combines the average filter and the adaptive filter. Finally，a transverse adaptive filter based on LMS was designed.
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