Grid Line Tracking Omnidirectional Robot Based on Visible Light Sensor and Mecanum Wheel PID Control

Abstract

Our design is a omnidirectional mobile robot which can move across a 2D working condition in a programmable way. The robot takes STM32 microprocessor as control module, adopts PWM pulse to control DC motor with encoder. DC motor and Mecanum Wheel speed control uses closed-loop PID Control Algorithms. The line-tracking and positioning module is based on visible light gray sensor which is distributed in all four possible movement direction to take advantage of the omnidirectional movement of the Mecanum wheel, allowing the robot to switch between horizontal and vertical movement directly. The relevant experiments show that the movement solution meet all the design requirements.