Controling 4- Wheeled omni robot under the previous curved trajectory formed by equipment
Keywords:
Wheeled omni, Tangen vector, Key point, Robot, OrbitAbstract
According to the rules of robot competition, the surface graphics is given before the competition. The combination of shortening the movement between two given points on the ground and avoiding obstacles makes the orbit move like a curve instead of a straight line.Normally, the accuracy of the robot terminal position is more important than the accuracy of the orbit itself in the game. However, because of the large number of specific orbits,it is essential to have an efficient method of orbit description as well as efficient data entry for the robot in order to satisfy both requests simultaneously and exactly.This paper proposes a plan to solve this problem by using a normal vector which is the tangent of the orbit at each keypoint in combination with the robot's kinematic parameters. The robot terminal position is based on the measurement results from the laser sensors for separate calibration after the orbit is completed. The results of the CK3 TNUT team in 2020 show that this method is quite effective in automatic robots, which can give necessary experiences for the next matches.
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