Research on the Design of Omni-Directional Mobile Robot for Sound Seeking, Positioning and Navigation
Yaowu Shen · 2023
As we all know, wheeled robots generally have two independent driving wheels. Because such robots have only two degrees of freedom of motion, they can only do arc motion or rotate at a certain place, but can not complete the complete motion including lateral movement. The research on the design of omni-directional mobile robot for sound seeking, positioning and navigation is a kind of research focusing on the development of omni-directional mobile robot with high performance in mobility, stability and robustness. The main goal is to develop a new generation of omnidirectional mobile robots as a platform for developing future intelligent systems. In addition, it will provide useful information about application areas, such as security systems or medical assistance systems. The main part of the project focuses on the impact of different parameters on performance and reliability. This research is about designing an omni-directional mobile robot for sound search, positioning and navigation. The main goal is to develop a robot that can locate its position in the room by using only ultrasonic sensors. This will enable the robot to be used as a mobile sensor platform for many applications, such as environmental monitoring, surveillance or search and rescue operations. In this paper, a dynamic model of DC motor is established, and this model is used to replace the unreasonable assumption in the original optimization algorithm. The new method greatly improves the path tracking ability. Finally, the rationality of hardware design and the validity of theoretical research results are verified.