1. 毕业设计（论文）的内容和要求
With the rapid development of computer technology and intelligent technology, mobile robots have been applied to a variety of fields to help humans complete all kinds of work. It is an important guarantee for autonomous mobile robot to realize dynamic perception and real-time positioning of external environment and navigation based on it, which has important research significance. In this subject, the four Mecanum wheeled omnidirectional mobile robot is taken as the research object, and the positioning and navigation system based on ROS is analyzed and designed.
2. 参考文献
1. Cooney J A, Xu W L, Bright G. Visual dead-reckoning for motion control of a Mecanum-wheeled mobile robot[J]. Mechatronics, 2004, 14(6): 623-637.2. Alakshendra V, Chiddarwar S S. Adaptive robust control of Mecanum-wheeled mobile robot with uncertainties[J]. Nonlinear Dynamics, 2017, 87(4): 2147-2169.3. Hendzel Z. Modelling of dynamics of a wheeled mobile robot with mecanum wheels with the use of Lagrange equations of the second kind[J]. International Journal of Applied Mechanics and Engineering, 2017, 22(1): 81-99.4. Yuan Z, Tian Y, Yin Y, et al. Trajectory tracking control of a four mecanum wheeled mobile platform: an extended state observer-based sliding mode approach[J]. IET Control Theory UGV cooperative teams[J]. Autonomous Robots, 2018, 42(8): 1601-1618.10. Ni J, Hu J, Xiang C. Robust control in diagonal move steer mode and experiment on an X-by-wire UGV[J]. IEEE/ASME Transactions on Mechatronics, 2019, 24(2): 572-584.
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