Four-wheel omni-directional robot movement control method, device and equipment and storage medium

The invention discloses a four-wheel omni-directional robot movement control method, device and equipment and a storage medium. The method comprises the steps that a relation model of the rotating speed and the running speed of each wheel in a four-wheel omni-directional robot is established; the running speed of each wheel is collected, and the rotating speed of each wheel is obtained according to the relation model; establishing a speed compensator according to the rotating speed of each wheel; adjusting an adjusting parameter in a PID control model based on the output value of the speed compensator so as to obtain a corrected rotating speed; and controlling the four-wheel omni-directional robot to move by utilizing the corrected rotating speed of each wheel. According to the vehicle speed measured by the speed sensor, deviation coupling control and fuzzy PID control are adopted, the running stability of the robot is improved, and the technical problem that an existing four-wheel omni-directional robot is p