Abstract:
Omnidirectional mobile platform is driven by independent multiple Mecanum wheels. Through the combination of rotation speed and steering of the wheel set, it can move in a two-dimensional plane at arbitrary angles. Its movement is very flexible and smooth. It implements precise positioning and high precision trajectory control with fine adjustment of position, and is widely used in autonomous mobile robots. To improve the real-time and accuracy of omnidirectional mobile platform and enhance the stability and accuracy of the whole control system, the CAN bus network used in the platform, DMA data transmission, PID control and other methods were studied. Firstly, the mathematical modeling and motion analysis of the mobile platform based on the Mecanum wheel is carried out. Then, to speed up the transmission of sensor data, the platform uses DMA data transmission, and data exchange between main control and motor through CAN bus network is carried out at the speed of 1 M/S. Through repeated debugging and testing, operation is smooth during omnidirectional movement of the remote-control platform. And the platform without lag phenomenon, can quickly and accurately reach the target position. It basically meets the requirements of stable, reliable, high precision and strong anti-interference ability of the control system.