Omnidirectional swarm intelligent robot
Published:
Duration: Jul. 2019 - Nov. 2019
Advisor: Liang HAN
Award: Best Innovation Award
Background
The universal wheel unmanned ground vehicle (UGV) represented by the Mecanum wheel has the advantage of flexible movement, and can be adapted to complex terrain. With the extensive research on the manipulator model, the control technology for the complex manipulator with multiple degrees of freedom is gradually improving. The wheeled robot, composed of a manipulator and a universal wheeled trolley, combines the advantages of both, and can well complete tasks such as object handling under complex terrain.
Technical schema
Communication: Robot Operating System (ROS) is utilized to build a communication network. The positioning system sends navigation information to the ground station through the ROS node, and the ground station sends the control command to the UGV in the same local network through the ROS node to realize the feedback control of the multi-UGV formation.
Navigation: Ultra Wide Band (UWB) positioning system is used to obtain real-time position information of the multi-UGV systems. An external inertial measurement unit is employed to obtain the UGV's yaw angle that is sent to the ground station through ROS.
UGV platform: the self-assembled universal wheel UGV is equipped with a manipulator. The Raspberry Pi is responsible for receiving the pose and attitude information of the UGV and generating the control command for the UGV and the manipulator.
Achievements
The following video shows the scenario of a coordinated formation of UAVs and UGVs equipped with manipulators. 😎
Team photo
