Design of intelligent positioning omnidirectional driverless vehicle based on fourth-order Runge-Kutta encoder combined IMU

Aiming at the problem of automatic driving and accurate positioning of unmanned vehicles in two-dimensional plane according to specified coordinates, this paper proposes a control strategy based on fourth-order Runge-Kutta method and IMU combined with encoder for positioning. In order to realize the omnidirectional movement of the driverless vehicle, the vehicle model wheel adopts the Mecanum wheel. The mathematical relationship between the vehicle speed and the speed of four separate wheels is obtained by solving and analyzing the motion mode of the Mecanum wheel. The incremental PID algorithm is used to control the motor speed and then control the omnidirectional movement of the vehicle model. For the problem of unmanned vehicle moving between any multiple points in the two-dimensional plane, the two-dimensional rectangular coordinate system is first established in the plane, and the mileage and the coordinate value of the unmanned vehicle are calculated by using the encoder integral value of the two wheels on the same side of the vehicle model. And the IMU using Kalman filter is introduced to correct the long-distance integral error of the encoder by using the fourth-order Runge-Kutta algorithm to calculate the mileage. Through the coupling calculation of the two, the positioning error can be reduced to less than 0.5 cm.