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Sensors 2017, 17(9), 2073; doi:10.3390/s17092073

The Design and Development of an Omni-Directional Mobile Robot Oriented to an Intelligent Manufacturing System

1
School of Mechanical Engineering, Hefei University of Technology, 193 Tunxi Road, Hefei 230009, China
2
Lassonde School of Engineering, York University, 4700 Keele Street, Toronto, ON M3J 1P3, Canada
*
Author to whom correspondence should be addressed.
Received: 16 July 2017 / Revised: 18 August 2017 / Accepted: 8 September 2017 / Published: 10 September 2017
(This article belongs to the Special Issue Mechatronic Systems for Automatic Vehicles)
View Full-Text   |   Download PDF [6678 KB, uploaded 11 September 2017]   |  

Abstract

In order to transport materials flexibly and smoothly in a tight plant environment, an omni-directional mobile robot based on four Mecanum wheels was designed. The mechanical system of the mobile robot is made up of three separable layers so as to simplify its combination and reorganization. Each modularized wheel was installed on a vertical suspension mechanism, which ensures the moving stability and keeps the distances of four wheels invariable. The control system consists of two-level controllers that implement motion control and multi-sensor data processing, respectively. In order to make the mobile robot navigate in an unknown semi-structured indoor environment, the data from a Kinect visual sensor and four wheel encoders were fused to localize the mobile robot using an extended Kalman filter with specific processing. Finally, the mobile robot was integrated in an intelligent manufacturing system for material conveying. Experimental results show that the omni-directional mobile robot can move stably and autonomously in an indoor environment and in industrial fields. View Full-Text
Keywords: omni-directional mobile robot; localization; extended Kalman filter (EKF); intelligent manufacturing system; design omni-directional mobile robot; localization; extended Kalman filter (EKF); intelligent manufacturing system; design
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Qian, J.; Zi, B.; Wang, D.; Ma, Y.; Zhang, D. The Design and Development of an Omni-Directional Mobile Robot Oriented to an Intelligent Manufacturing System. Sensors 2017, 17, 2073.

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