Design of Omni-directional Mobile Robot Based on SLAM
Conference: MEMAT 2022 - 2nd International Conference on Mechanical Engineering, Intelligent Manufacturing and Automation Technology
01/07/2022 - 01/09/2022 at Guilin, China
Proceedings: MEMAT 2022
Pages: 6Language: englishTyp: PDF
Authors:
Lu, Chuqiao (School of International Education, Wuhan University of Technology, Wuhan, China)
Ai, Huangze; Shi, Shaoyue (School of Automation, Wuhan University of Technology, Wuhan, China)
Abstract:
In this paper, a mecanum wheeled omni-directional mobile robot based on SLAM is designed. Firstly, the hardware structure of the robot is designed, especially the circuit design of the control mainboard is introduced. Then the kinematics of the mechanical structure of mecanum wheel is analyzed. After that, the SLAM function is realized by cartographer algorithm, which builds the map of the environment and estimates its own location simultaneously; The path planning and autonomous navigation of the robot are realized by using Dijkstra algorithm. The omni-directional mobile robot based on SLAM not only has the characteristics of omni-directional rotating, but also has the functions of indoor topographic mapping, accurate navigation and positioning.