Motion Analysis and Stability Control of Four-Wheeled Omnidirectional Mobile Robot under Limited Hardware Resource

摘要

Abstract Since widely used in factories, hospitals and other workplaces, the motion stability of Mecanum omnidirectional mobile platform becomes more and more important. In this paper, an improved PID algorithm based on integral separation method, anti-integral saturation method and incomplete differential method was proposed to improve the control precision and motion stability of omnidirectional mobile robot (OMR) under limited hardware resource. From the analysis of the experimental data, it can be seen that by combining the Angle data with the motion equation, the attitude of the omnidirectional mobile platform can be adjusted in a short time, and the response speed can be greatly improved.