Article Details

Abstract

To address the issues of limited space, heavy manual labor, and insufficient real-time performance in industrial inspection, this paper develops a four-wheel coaxial omnidirectional balanced intelligent inspection robot. The system adopts a dual-core architecture comprising an STM32F407 real-time lower-level controller and a Raspberry Pi 5 edge computing unit, where the lower-level controller runs a cascaded PID sliding mode variable structure control algorithm, and the upper-level computer performs Cartographer SLAM mapping, A* global planning, and TEB local obstacle avoidance. The innovations of this paper include proposing a four-wheel coaxial longitudinal arm suspension configuration to achieve passage through 600-mm narrow aisles, developing a cascaded PID sliding mode variable structure composite control algorithm to enhance disturbance rejection capability, and implementing the full Cartographer SLAM-A*-TEB embedded navigation pipeline on the Cortex-M platform.

Keywords

STM32; omnidirectional balance; Cartographer SLAM; cascaded PID; sliding mode control; inspection robot

References

1. [1] Yuan Yuheng, Xia Simin, Huang Wencan, etc Research on Intelligent Obstacle Avoidance Vehicle Perception System Based on Lidar [J]. Internal Combustion Engine and Accessories, 2025 (19): 113-115
2. [2] Zheng Jiaqiu, Luo Yang, Zhou Mingquan, etc Design and Analysis of Lateral Balance Control for Bicycle Robots Based on Cascade PID [J]. Journal of Chengdu Institute of Technology, 2025, 28 (2): 9-13
3. [3] Qiu Jianbin, Chen Bowen, Yan Hua, etc Balance control of two wheeled vehicles based on cascade PID algorithm [J]. Journal of Chengdu Institute of Technology, 2024, 27 (5): 1-5
4. [4] Huang Jianzi Design and Research of Control System for Two Wheel Balancing Vehicle [D]. Yancheng: Yancheng Institute of Technology, 2025
5. [5] Miao Hongxia, Guo Zhangwang, Qi Bensheng, etc Research on Laser SLAM Based on Improved Cartographer Algorithm [J]. Computer Simulation, 2024, 41 (9): 299-303
6. [6] Wang Lei Research on SLAM Optimization of Indoor Mobile Robots Based on Cartographer Algorithm [D]. Wuhan: Wuhan University of Science and Technology, 2024
7. [7] Li Fangwei, Bao Jiusheng, Wang Chen, etc Autonomous Navigation Method and Experiment of Underground SLAM for Unmanned Trackless Rubber Wheel Vehicle Based on LD Improved Cartographer Mapping Algorithm [J]. Journal of Coal Industry, 2024, 49 (S2): 1271-1284
8. [8] Huang Yuxiang, Wu Guoxin, Zuo Yunbo Laser SLAM Algorithm Based on Improved Cartographer [J]. Journal of Beijing University of Information Science and Technology (Natural Science Edition), 2023, 38 (2): 47-52
9. [9] Pan Qitao Research on SLAM and Path Planning Algorithm Based on Robot Information Physics System [D]. Liuzhou: Guangxi University of Science and Technology, 2024
10. [10] Peng Ke, Liu Hongsheng, Zhang Zhicheng, etc AGV path planning integrating improved A * algorithm and TEB algorithm [J]. Computer Science, 2025, 52 (S2): 175-181
11. [11] Li Shengjie, Jiang Hongwei AGV path planning based on improved A * algorithm [J]. Journal of Shaoyang University (Natural Science Edition), 2025, 22 (2): 19-26
12. [12] Zhang Zhen Research on Local Path Planning and Tracking Control of Mecanum Wheel Mobile Robot [D]. Hangzhou: Zhejiang University of Science and Technology, 2024

About the authors

Hu Haiyan (2005-), female, Han ethnicity, from Yancheng, Jiangsu Province, undergraduate studies, research direction: Computer Science and Technology; Corresponding author: Zhou Jin (1979-), female, Han ethnicity, from Danyang, Jiangsu, senior laboratory technician, undergraduate, research direction: computer applications; Chen Huiling (1979-), female, Han ethnicity, from Nanjing, Jiangsu, lecturer, PhD, research direction: virtual reality and IoT sensing.