Micro And Small Track-type Mobile Robot Motion Control Analysis

At present, more and more interest has been focused on the research of Intelligent Automobile Robot. Autonomous navigation is very important to guarantee the robot to realize the autonomous motion. Autonomous navigation can be broken down into four tasks. These tasks include perceiving and modeling the environment, localizing the robot within the environment, planning and deciding the robot's desired motion, and finally, executing the robot's desired motion. The third task involves motion control. In the work of motion control, it is assuming that a planned path already exists and therefore a technique to decide the robot's desired motion is required. Track-laying mobile robot is differential driven, so it is a skid-steering vehicle and its turning radius can equal to zero. In Addition, it has the ability to cross the entrenchment and climb the vertical wall, so it is used widely in military affairs and rescue.Firstly, this thesis analyses the forces acted on the robot to make preparations in dynamics for the research in motion control. Secondly, from the point of kinematics, determine the desired motion of the robot according to the error between current position and desired position based on two methods. The first one is Vector Pursuit which is based on Screw Theory. The second one is Replicate Line Method presented by this thesis which is presented according to the skid-steering property of track-laying mobile robot and the constraint of its working environment. Thirdly, use the path tracking method proposed by Kanayama for reference to control the robot moving for the current position to the desired position with the desired velocity, so make the path tracking process more precise. And this thesis qualitatively analyses how to determine the limitation of desired velocity and proposes the conception of global velocity and local velocity correction. Finally, test above path tracking algorithms in simulation with Matlab and VC++ and analyses the result of the tests.Above all, this thesis focuses on some important conceptions and algorithms of mobile robot motion control, and has practicalities in some ways.