基于光流传感器和惯性导航的全向移动平台双闭环控制研究

Dual Closed-loop Control of Omnidirectional Mobile Platform Based on Optical Flow and Inertial Navigation

以实现全向移动平台的位姿控制为主要研究目的。在位姿获取上,采用光流传感器和惯性导航获得了位姿信息;在结构和控制上,研究了四轮麦克纳姆轮的全向移动平台结构及其位姿解算,分析了获得车辆转角和位姿双闭环PID控制规律。通过Simulink仿真建立上位机实时获取传感器数据,研究了各个传感器在不同条件下的数据变化情况和双闭环控制的参数调节问题,以寻找最佳的控制参数。

The main purpose is to realize the pose control of omni-directional mobile platform.In the aspect of pose acquisition,the method of acquiring pose information is provided by using optical flow sensor and inertial navigation.In terms of structure and control,the structure of omni-directional mobile platform of four-wheel mcnamm wheel is studied,the position and attitude calculation is explored,and the double closed-loop PID control law of vehicle angle and position and attitude is analyzed.The upper computer is established by Simulink simulation to obtain the sensor data in real time,so as to study the data change of each sensor under different conditions and the parameter adjustment of double closed-loop control,and find the best control parameters.