International Workshop on Millimeter-wave Radar Technology and Application

Research Article

Design about Control System of Omnidirectional Mobile Platform Based on CAN Bus

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  • @INPROCEEDINGS{10.4108/eai.21-6-2018.2276580,
        author={Jiuyan Li and Quanli Wei and Yan Feng},
        title={Design about Control System of Omnidirectional Mobile Platform Based on CAN Bus},
        proceedings={International Workshop on Millimeter-wave Radar Technology and Application},
        publisher={EAI},
        proceedings_a={IWMRTA},
        year={2018},
        month={9},
        keywords={can bus stm32 omnidirectional mobile platform fuzzy pid control},
        doi={10.4108/eai.21-6-2018.2276580}
    }
    
  • Jiuyan Li
    Quanli Wei
    Yan Feng
    Year: 2018
    Design about Control System of Omnidirectional Mobile Platform Based on CAN Bus
    IWMRTA
    EAI
    DOI: 10.4108/eai.21-6-2018.2276580
Jiuyan Li1,*, Quanli Wei1, Yan Feng2
  • 1: School of Information Science and Technology, Qingdao University of Science and Technology
  • 2: School of Information Science and Technology, Qingdao University of Science and Technology, Qingdao
*Contact email: qd_ljy@163.com

Abstract

In some traditional robot control systems, the communication between all kinds of sensors and CPU controllers is mostly based on the serial communication way which is difficult to adapt to the complex location environment in the industrial field. In order to solve this problem, through field experiments, it is found that CAN bus can be adaptable to severe environment due to its advantages of real-time communication and strong electromagnetic interference resistance. Based on this, this paper proposes a control system of omnidirectional mobile platform based on CAN bus, through the analysis of the motion of the angular velocity of the mobile platform, using CAN bus to collect the motor speed information and the fuzzy PID control algorithm to determine the precise motor speed, realizing high precision platform walking control. The results show that the system can carry out the work of material handling and assembly tools in a safe and normal way.