System Design And Control Research For Wheeled Mobile Robot

Mobile Robot has become the center in the field of computer technology, automation and artificial intelligence in recent years. This topic designed is a kind of space image calibration measurement system of smart mobile devices. Mobile Robot is based on double laser source for localization, front wheel for turning, rear wheel for driving, and path planning and trajectory tracking problems are researched in this paper.At first, this paper summarizes the development history and current situation of the development of Mobile Robot, the research background and significance of the topic for this article is presented, and simply expounds the main research contents and work.Then, the architecture and control system is introduced in detail in this paper, which Mobile Robot kinematics model is based on. Four wheeled structure is used in the Mobile Robot in this paper, the front wheel as the steering wheel, two rear wheels are driven respectively by two synchronous stepping motor driver. Based on the structure, the Mobile Robot kinematics model is established. And then describing each component of the Mobile Robot, including:main controller module, driving module, camera attitude controlling module, ranging module, communication module, power module and the remote control module, etc. All of these modules in this paper constitute the robot prototype system, in the study of the practical application, they coordinate between each other, and achieved perfect results.In this paper, the Back-Stepping algorithm, continuous curvature curve algorithm and fuzzy control algorithm, three kinds of mobile robot path planning and trajectory tracking algorithm is studied. Back-Stepping algorithm, which is in a backward regression design ideas, designs the controller, and ultimately meet the control requirements. Continuous curvature curve algorithm is mainly to solve the problem of Mobile Robot in the steering process to avoid the problem of steering wheel steering mutations angle. Fuzzy control algorithm solves the robot moving problem in a straight long distance.Finally this article puts forward the three algorithms of theoretical derivation and experimental simulation and experimental validation of the prototype, proved its feasibility and effectiveness, and obtained very good control effect.