Mecanum wheels with Astar algorithm and fuzzy PID algorithm based on genetic algorithm

摘要

In the industrial fields, Mecanum robots have been widely used. The Mecanum Wheel can do omnidirectional movements by electric machinery drive. It's more flexible than ordinary robots. It has massive potential in some situation which has small space. The robots with control system can complete the function of location and the calculation of optimal route. The Astar algorithm is most common mothed. However, Due to the orthogonal turning point, this algorithm takes a lot of Adjusting time. The Improved algorithm raised in this paper can reduce the occurrence of orthogonal turning point. It can generate a new smooth path automatically. This method can greatly reduce the time of the motion of the path. At the same time, it is difficult to obtain satisfactory performance by using the traditional control algorithm because of the complicated road conditions and the difficulty of establishing the model of the robot, so we use fuzzy algorithm to control robots. In fuzzy algorithm, the use of static membership function will affect the control effect, therefore, for complex control environment, using PSO algorithm to dynamically determine the membership function. It can effectively improve the motion performance and improve the dynamic characteristics and the adjustment time of the robot.