Design of Omni-directional Mobile Robot System

摘要

The omni-directional mobile robot possessed high flexibility and maneuver-ability,since it can run on the planar surface freely under the precondition of keeping the stance of the robot.Developed a kind of four-wheel-driving omni-directional mobile robot under the condition of finding the black central region of the platform by robot.Calculated the motor power according to the driving force required,selected the type of motor, analyzed the steering performance of robot,designed control system on base of ATmegal128 MCU.Robot performance experiment showed that the omni-directional mobile robot had good stability of motion,and could achieve the position accurately by the reverse turning of front wheels and rear wheels.