شبيه سازي و كنترل مسير حركت ربات متحرك همه جهته

simulation and control of omni-directional mobile robot

ﻫﺪف اﺻﻠﯽ ﻣﻘﺎﻟﻪ دﻧﺒﺎل ﮐﺮدن ﻣﺴﯿﺮ رﺑﺎت ﻫﻤﻪ ﺟﻬﺘﻪ ﺑﺎ اﺳﺘﻔﺎده از اﻟﮕﻮرﯾﺘﻢ ﺟﻬﺖﯾﺎﺑﯽ ﺑﻪ روش ﮐﻨﺘﺮل رﻓﺘﺎر ﻣﺒﻨﺎ ﺑﻪ ﻣﻨﻈﻮر ﺷﺒﯿﻪ ﺳﺎزي ﻧﻮﯾﻦ ﺑﺎ ﺟﻬﺖﮔﯿﺮي دو رﺑﺎت ﺑﻪ ﺳﻤﺖ ﯾﮑﺪﯾﮕﺮ ﮐﻪ ﻫﻤﺮاه ﺑﺎ ﻋﺒﻮر از ﻣﻮاﻧﻊ و ﺗﻐﯿﯿﺮ وﺿﻌﯿﺖ ﺑﯿﻦ ﻫﺮ رﻓﺘﺎر ﺑﻪ ﻧﻘﻄﻪي ﻫﺪف ﻣﯽرﺳﺪ. ﺑﺎ اﺳﺘﻔﺎده از ﺳﯿﻨﻤﺎﺗﯿﮏ رﺑﺎت، رواﺑﻂ ﻣﺮﺑﻮط ﺑﻪ ﺳﺮﻋﺖ و ﮔﺸﺘﺎور ﭼﺮخﻫﺎ ﺑﺪﺳﺖ آﻣﺪه اﺳﺖ. ﺳﺎﺧﺘﺎر ﺳﮑﻮي رﺑﺎت داراي ﺳﻪ ﻣﺠﻤﻮﻋﻪ ﭼﺮخ ﻣﺘﻌﺎﻣﺪ ﻫﻤﻪ ﺟﻬﺘﻪ ﻣﯽﺑﺎﺷﺪ ﮐﻪ ﻣﯽﺗﻮاﻧﺪ در ﻫﻤﻪ ﺟﻬﺎت ﺑﺎ ﻗﺎﺑﻠﯿﺖ اﻧﺘﻘﺎل ﺑﺪون دوران و اﻧﺘﻘﺎل ﺗﻮام ﺑﺎ دوران ﺑﻪ ﻃﻮر ﻣﺴﺘﻘﻞ از ﻫﻢ، ﺣﺮﮐﺖ ﮐﻨﺪ. ﺑﻪ ﻋﻼوه ﻧﺘﺎﯾﺞ ﺑﺪﺳﺖ آﻣﺪه از ﺷﺒﯿﻪ ﺳﺎزي اراﺋﻪ ﺷﺪه اﺳﺖ و ﺟﻬﺖ ﺣﺼﻮل اﻃﻤﯿﻨﺎن و ﺑﺮرﺳﯽ ﻣﺰاﯾﺎي اﯾﻦ روش ﮐﻨﺘﺮﻟﯽ ﻧﺴﺒﺖ ﺑﻪ روشﻫﺎي دﯾﮕﺮ، ﺑﺎ ﺳﺎﯾﺮ ﻣﺮاﺟﻊ ﺻﺤﺖ ﺳﻨﺠﯽ اﻧﺠﺎم ﮔﺮﻓﺘﻪ اﺳﺖ.

The main purpose of this article is tracking the trajectory of the omni-directional robot using the navigation algorithm by behavior-based control and a new simulation with the aim of orienting the two robots toward each other, In addition, fixed orientation simulations have been performed using this method. Using the robot kinematics to obtain the equations related to the speed and torque of the wheels. in this paper, the robot platform structure has three sets of orthogonal omni wheels that can move in all directions with the ability of displacement without rotation or rotation and displacement simultaneously. the appropriate dynamic equation of the robot has been extracted, then using inverse dynamics of the robot to control the robot’s path. In addition, validate some simulation by presented method with other references. At the end, the results obtained from the simulations are discussed and analyzed. To ensure this method, verification has been done with other authorities.