Research on the intelligent control technology of the uneven road omni-directional mobile robot

Abstract

For the omni-directional mobile robot on uneven pavement, its variants and mutations movement control have been puzzling the researchers. An adaptive extension intelligent control technology, which combines the high precision of the adaptive control technology, fast reaction rate of the extension control technology, is used to study the three wheeled omni-directional mobile robot on uneven pavement in this paper. Through the research, the three wheeled omni-directional mobile robot’s kinematics and dynamics model have been constructed firstly. Then a kind of adaptive extension intelligent control method has been built. At last the adaptive extension intelligent controller has been designed and the experimental results have been given accordingly. The experimental results show that the three wheeled omni-directional mobile robot which has the ability of high precision, fast reaction rate, self-organizing and self-learning using adaptive extension intelligent control technology is better than using adaptive control technology. This technology can meet the requirements of three wheeled omni-directional mobile robot.