Visual Dead-Reckoning for Motion Control of a Mecanum-Wheeled Mobile Robot

摘要

Given an omni-directional mobile platform using four Mecanum wheels, it requires further a capability for being programmed to achieve various motion behaviours and intelligence. This paper describes an undergraduate solution to the problem involving both hardware and software developments. Two optical mice were attached to the front and rear of the robot giving positional feedback for closed-loop control and dead-reckoning for navigation. A Mitsubishi M16C/62 microcontroller was interfaced to all those TTL compatible devices and subsequently programmed to implement various robotic behaviours. A closed-loop control scheme using three independent PID controllers was implemented to follow three degrees-of-freedom motions. The path-following performance of the robot was tested in both open-loop and closed-loop modes and the optical mice were found to be a promising but inexpensive sensor to the dead-reckoning for robot motion control.