Trial Design of A General Purpose Mobile Platform Using A Novel Omni-Directional-Wheel-Mechanism for Robotic Researches

研究和开发一个通用的移动的平台，可广泛应用于机器人研究和工业领域，是本研究的主要目的。在所设计的系统中，平台的轮式机构是本课题组提出并经过多年验证的一种新颖的全方位机构。为了使本系统具有实用性，特别是在户外环境中，我们开发了一种非完整机构，该机构可以使用普通的空气轮胎代替特殊设计的车轮。在本研究中，我们特别关注以下主题：（1）研究主题之一是建立一个有效的程序来设计平台的在线轨迹。我们已经解决了它使用B样条函数。(2)我们提出了一个信息包交换方案，命名为事件池系统，以实现简单而强大的接口结构，能够互连许多不同类型的传感器，acatuators，软件模块等。

Studying and developing a general purpose mobile platform, which can be widely used in robotics research and industrial fields, are the main aims of this research. In the designed system, the wheel mechanism of the platform is a novel designed omni directional type which has been proposed in our research group and examined for several years. For our system to be of practical use, especially in outdoor environments, we have developed a non-holonomic mechanism which can employ normal air-tires instead of specially designed wheels.In this research, we specially focused on the following themes :(1) The first research subject is to construct an effective procedure to design a trajectory for the platform on-line. We have settled it using the B-Spline functions.(2) We proposed an information-packet exchanging scheme, named event-pool system, to achieve simple and powerful interfacing architecture which is able to interconnect many different types of sensors, acatuators, software modules, etc.