Mobile robot position control algorithm based on multiple ultrasonic distance sensors

摘要

This research deals with basic properties of the omni-directional mobile robot based on Mecanum wheels, control system design, and experimental performance evaluation. The suggested mobile robot has a rectangular mobile platform and four Mecanum wheels at each corner. By harmoniously coordinating the four Mecanum wheels, immediate forward/backward, lateral and rotational motion is generated. In electrical design aspect, NI cRIO embedded real-time controller and C Series motion & I/O modules were employed. Ultrasonic sensors installed around the mobile robot can measure environmental situation such as distance between the mobile robot and the side walls. Based on this mechanical and electrical design, a real prototype was manufactured and performance evaluation for position accuracy was conducted. After intensive experiments, it was confirmed that the developed mobile robot guarantees quite decent performances.