Path Tracking Control of Omnidirectional Mobile Robot Based on Bidirectional Visual Navigation
Jia Qian, Chao Chang, Luhao Zhang, Sidi Zhang · 2019
A Mecanum-wheeled omnidirectional mobile robot with path tracking control system based on linear CCD camera is designed. According to the structural characteristics of the designed omnidirectional mobile robot, the kinematics equation of the robot is analyzed, and the trajectory deviation adjustment model of the robot is established based on the kinematics equation of the robot. The control system of the robot is designed. Two cameras are used to constraint the robot body posture. The principle of path tracking using cameras is analyzed. The following strategies are adopted in the image process: dynamic threshold method, adaptive exposure method, mean filter processing, binary processing method. Finally, the effect of the control system is investigated experimentally. The deviation of the robot can be measured stably and the robot path tracking control is realized.