模块化四轮全向驱动小车设计与运动控制方法

Kinematic Control and Modular Design of 4-wheel Omin-driectional Driving Robot

设计了模块化四轮驱动机器人,基于采用AVR单片机的运动控制提出了模块化四轮全向驱动简化运动学模型.在对模型详细分析的基础上,提出通过改变曲率半径实现对小车运行轨迹进行控制的方法.实验表明,提出的运动控制方法简单可靠,满足设计要求.

A 4-wheel omni-driectional driving robot was designed, and a 4-wheel omni-directional driving kinematic model was proposed based on AVR microcontroller control. Detailed analysis of the robot model shows that the robot can be con- trolled and the predesigned trajectory can be obtained through continuously altering the curvature radius. Experimental re- sults indicate that the kinematic control method is simple and reliable; the accuracy of trajectory satisfies the design require- ments.