Trajectory Tracking Control For Four-wheeled Robot Based On Visual Feedback

Trajectory tracking is one of the most important technologies in the study of the mobile robot. The arithmetic of trajectory tracking control can influence the performance of the mobile robot definitively. The four-wheeled mobile robot has some features that dynamic model and kinematics model are complex. It is a typical nonholonomic system, so to design a perfect controller is difficulty. In order to solve the problem of stability and real-time and improve its intellectualized level, some researches are made based on multiple-point preview and intelligent control in this paper.This paper proposes a multiple-point preview fuzzy PID control algorithm which is based on imitation human driving. This algorithm considers the infections which come from frontal way and has forecast trait because it merges some factors such as preview point number, preview distance, velocity of the robot and so on. The emulating experiment shows that this algorithm is fast and stability but self-adaptive is not good enough.Then in order to solve the defect of self-adaptive, this paper proposes multiple-point preview fuzzy control immune algorithm using the immune feedback mechanics of immune system which belongs to a teach - form. The parameters of the controller can be adjusted online. The emulating experiment shows that the algorithm is stability, real-time and can be used in the mobile robot system.In the end, a new evaluation criterion is proposed. This evaluation criterion can give a reasonable evaluation.