| With the rapid development of sensor technology, computer science, artificial intelligence and other related technology,related research on mobile robot develop more and more rapidly, more and more widely applied. In manufacturing, agriculture and detection,mobile robot can finish bad, heavy or unable to complete the task instead of human, like the polar expedition, earthquake rescue, space exploration and military reconnaissance operations.With the increasing working requirement in all the fields. The mobile robot itself needs more and more high performance. Ground mobile robot control and navigation performance has always been the focus of the industry.The paper focuses on the trajectory tracking control of ground wheeled mobile robot system and the evaluation method of autonomous navigation performance.In this paper, through the analysis of the status quo and development trend of domestic and foreign mobile robot, considering the modeling method of ground wheeled mobile robot and key technology of autonomous navigation. According to the demand of autonomous navigation performance evaluation and analyzing position error of the mobile robot, path smoothness and navigation efficiency index evaluation method, provide a reference for the study of the surface of the wheeled mobile robot trajectory tracking method and autonomous navigation performance test methods.Firstly, analysis the nonholonomic and controllability of mobile robot, establish ideal kinematic model of the Pineer-3.And considering the uncertainty disturbance influence as change of surface friction,load changes and transmission system error,regard all the uncertain effect as generalized uncertainty load. And add it to the mobile robot dynamic model. Eventually, establish ground wheeled mobile robot dynamic model with generalized uncertain interference.Secondly, according to the differential wheeled mobile robot kinematics model and dynamics model, study the motion planning and control techniques of trajectory tracking.Based on kinematics model of trajectory tracking method can obtain robot values to achieve desired trajectory tracking of the motion planning. And based on the dynamic model of the trajectory planning control can achieve generalized uncertain disturbance force to the desired trajectory tracking. The paper use back-stepping method to design the mobile robot trajectory tracking controller, obtaining trajectory tracking control law, and its stability is verified by Lyapunov theory. According to the actual mobile robot subject to uncertain disturbances,using RBF neural network on line forced nearly and verify its stability. In this paper,simulation experiments based of Pioneer-3 mobile robot model trajectory tracking method is verified.Thirdly, the paper focuses on the research of performance evaluation system for navigation of autonomous mobile robot. Establish autonomous navigation performance evaluation index system. According to the evaluation index and the autonomous navigation process, design a testing method to test the mobile robot autonomous navigation performance.According to dynamic trajectory tracking performance of autonomous navigation performance, design circular linear sinusoidal and four edge shaped path tracking experiment method to evaluate ground mobile robot under fixed curvature, zero curvature, variable curvature path autonomous navigation performance. According to the above theory and the autonomous navigation test requirements,build system hardware,and design the software system in the module and make corresponding program.Finally, the paper constructs the ground mobile robot trajectory tracking experiment platform and the autonomous navigation performance evaluation system, through the experiment on specified trajectory tracking to verify that the trajectory tracking control method is effective. Through the mobile robot autonomous navigation performance testing,verify the validity and practicability of the mobile robot autonomous navigation performance index, method and apparatus. |
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