Three-wheel full-wheel robot speed algorithm

Abstract

This paper introduces the design of the chassis speed algorithm for the Robocon2018 wheeled robot, and designs the motion algorithm of the wheel chassis for the Robocon2018 competition. Establish the coordinate system, through to the robot Chassis movement modelling analysis and based on the actual debugging situation, according to the decomposition and synthesis of vector velocity, the velocity projection value of three omnidirectional wheels is calculated by means of vector dot product, and then the velocity projection value is converted to STM32 PWM output to control the motor. It also proves the effectiveness and feasibility of the velocity algorithm to make the robot move according to the predetermined speed.