Self-developed Three Wheels Omni-Directional for Autonomous Mobile Robots

Proceedings of the 3rd International Conference on Machine Learning and Soft Computing Pub Date : 2019-01-25 DOI:10.1145/3310986.3310995

Truong Le Phuong, Khai La Khai

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引用次数: 2

Abstract

The proposed system presents the method to self-developed three wheels Omni-directional for autonomous mobile robots. The implementation system including 60W Planet DC motor for three wheels, three encoders for speed feedback, one encoder for distance feedback, one digital compass sensor for angle feedback. The hardware system includes two section, the first one is the main system it received the signal from sensor compass and encoder and then it controls three subsystems to adjust steering speed each wheel. The second one is the sub-system with the mission control only one DC motor from the control signal of the main system. The main system is developed based STM32F407 and the sub-system is an STM32F103 microcontroller. Furthermore, The PID algorithm is applied to control speed DC motor and the trajectory generation algorithms have been built for Omni-directional. From the implementation results, the proposed system yields good quality trajectories and implementable real-time. The error of positional is 1.33% and the angle is 1.75%.

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自主研制的三轮全方位自主移动机器人

该系统提出了自主开发三轮全向自主移动机器人的方法。实现系统包括60W Planet直流电动机，用于三个车轮，三个编码器用于速度反馈，一个编码器用于距离反馈，一个数字罗盘传感器用于角度反馈。硬件系统包括两个部分，第一部分是主系统，接收传感器、罗盘和编码器的信号，然后控制三个子系统来调节每个车轮的转向速度。第二个是子系统任务控制只有一个直流电机来自主系统的控制信号。主系统采用STM32F407单片机，子系统采用STM32F103单片机。在此基础上，将PID算法应用于直流电机的速度控制，并建立了全向轨迹生成算法。从实施结果来看，该系统产生了高质量的轨迹和实时性。位置误差为1.33%，角度误差为1.75%。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Proceedings of the 3rd International Conference on Machine Learning and Soft Computing

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