| In this thesis, the control system and architecture of the out-door autonomous mobile robot is fully analyzed. Based on the research of mathematics model of the kinematics and dynamics for the robot, several stable and convergent control algorithms including non-linear algorithm, intelligent-PID algorithm and fuzzy-PID algorithm are proposed to control the robot in real-time tracking. A new hybrid-flexible control architecture is discussed in detail. In the research, a prototype MORO-I including mechanical body, driving system, localizing system and controller is designed. |
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