Design of Multi target Point Tracking Control System for Omnidirectional Mobile Industrial Robot Based on Double Loop Sliding Mode Control
In practical application scenarios,omnidirectional mobile industrial robots often work in high noise environments,re-sulting in poor performance of multi-objective tracking.Therefore,a multi-objective point tracking control system for omnidirectional mobile industrial robots based on double loop sliding mode control is designed.Design the system's main controller module and main controller chip;Configure a data acquisition card in the data acquisition module to implement the frame data acquisition;In the wire-less communication module,Wi-Fi wireless communication technology is used to achieve the system's remote control and data trans-mission functions.The system software design adopts an improved object detection network based on GhostNet,implementing multi object point detection.the multi-objective point tracking algorithm based on the improved SORT algorithm is designed to achieve the multi-objective point tracking.The multi-objective point tracking controller based on dual loop sliding mode control is designed to a-chieve the multi-objective point tracking control.Experimental results show that in static obstacles,the average target tracking accu-racy of the designed system in warehouse scenarios is 97.23％,and the average target tracking accuracy of outdoor scenarios is 96.37％;The system target tracking accuracy of dynamic obstacles is slightly lower than that of static obstacles.
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