四麦克纳姆轮式小车控制系统的研究  

Research on the Control System of Four Mecanum Wheeled Car

作　　者：易先军[1] 彭萌 耿翰夫 付龙 YI Xian-jun;PENG Meng;GENG Han-fu;FU Long(School of Electrical and Information Engineering,Wuhan Institute of Technology,Wuhan 430205,China)

机构地区：[1]武汉工程大学电气信息学院,武汉430205

出　　处：《自动化与仪表》2019年第5期19-22,26,共5页Automation & Instrumentation

摘　　要：针对常规智能小车避障缺陷以及移动灵活性不足,研究并设计了一种四麦克纳姆轮式小车控制系统。通过对麦克纳姆小车的运动模型分析,解算其底盘运动控制方程;采用模糊控制算法对超声波和红外传感器采集的环境信息进行模糊化处理;根据经验规则推理并解模糊输出各轮速度以实现避障。小车避障试验表明,该系统实现了Android App对小车全向运动的控制以及对小车相关信息显示,具有较好的交互能力。四麦克纳姆轮式小车工作于避障场景时能够自主避障,对进一步开展四轮式移动机器人的避障及人机交互等方面的研究有一定的参考价值。Aiming at the defect of obstacle avoidance and the lack of mobility flexibility of conventional intelligent car,a four-Mecanum wheeled car control system is studied and designed. Through the analysis of the motion model of the Mecanum car,the chassis motion control equation is solved. Fuzzy control algorithm is used to fuzzify the environmental information collected by the ultrasonic and infrared sensors. According to the empirical rules,the fuzzy output of each wheel speed is reasoned and solved to achieve obstacle avoidance. The vehicle obstacle avoidance test shows that the system realizes the control of the omnidirectional motion of the car by Android App and the display of the relevant information of the car,and has a good interaction ability. The four Mecanum wheel-type trolley can avoid the obstacle when working in the obstacle-avoiding scene,and has a certain reference value to the further research on the obstacle avoidance and human-computer interaction of the four-wheel mobile robot.

关 键 词：麦克纳姆轮 智能车 车轮速度 安卓App 模糊控制算法 

分 类 号：TN929.53[电子电信—通信与信息系统] TP24[电子电信—信息与通信工程]