De Chen, Qingdong Yan, Xuexian Li, Zhiwen Zeng, Wenbo Qiu
Omnidirectional mobile robots (OMRs), sine–cosine velocity planning, position closed-loop control
Aiming at the problem that omnidirectional mobile robots (OMRs) need to meet the requirements of high smoothness speed control dur- ing driving and precise positioning of target points in complex work- ing environment with many obstacles and large dynamic changes, the OMR motion model is derived, and a position closed-loop control method based on sine–cosine velocity planning is proposed. The closed-loop precise and smooth control of the OMR’s speed and posi- tion and the precise positioning at the target point are realised. This method calculates the speed control parameters directly through the relationship between the expected trajectory and the actual trajectory. The control coefficients are not related to the speed error, trajectory displacement error, and other factors during the OMR’s moving process. Instead, when the OMR starts to move, the system makes advance planning through the sine–cosine function based on the target position point information, and no real-time adjustment is required during moving. Thus, smooth and precise motion control is achieved. The experimental results show that this method has the advantages of smoother motion control, higher stopping precision, better stability, stronger compatibility, and robustness.
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