Design and development of an omni-directional mobile robot for logistics of printing enterprise

被引：0
作者：
Gao Z. [1 ]
Yang Y. [1 ]
Du Y. [1 ]
Zhang Y. [1 ]
机构：
[1] School of Mechanical Engineering, Beijing Institute of Graphic Communication, Beijing
来源：
International Journal of Simulation: Systems, Science and Technology | 2016年 / 17卷 / 47期
关键词：
Localization; Motion model; Navigation; Omni-directional mobile robot; Path planning;
D O I：
10.5013/IJSSST.a.17.47.17
中图分类号：
学科分类号：
摘要：
Based on printing enterprise layout, an omni-directional mobile robot with zero torque is designed by the three Swedish wheels structure. First of all, we describe the mechanical design and the motion model of the robot in detail. A navigation logic system is proposed combining positioning of incremental photoelectric encoder and a path planning algorithm based on the Dijkstra algorithm. Then, taking the workshop logistics channel as an example, the path planning simulation is implemented on the MATLAB platform. The omni-directional autonomous motion of the robot is realized. It is an effective attempt to improve the intelligence of the logistics system. © 2016, UK Simulation Society. All rights reserved.
引用
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页码：17.1 / 17.6
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