Research On Motion Control Of Mobile Robots Based On Driving And Steering Wheel

Because of its good motion performance,the mobile robots based on driving and steering wheel are more and more widely used.However,because of its non-integrality constraint,the research on motion control methods of mobile robot has become a hot topic.In this thesis,the motion control algorithm of independent driving and steering traction mobile robot is studied,and the robot control system based on CoDeSys software platform is developed.The main contents of this thesis are as follows:1.A kinematic analysis of the mobile robot driven by diagonal steering and steering wheels is presented.2.The third-order Bezier curve is used to plan the robot motion path.According to the obstacle constraints,the path is optimized and solved by a particle swarm optimization algorithm,and the simulation is carried out on MATLAB.The cubic polynomial and the fifth polynomial are used to plan the heading angle of the robot respectively,and the feasibility is verified by simulation.3.Based on the inverse control method,a globally stable path tracking feedback controller is designed by using the Lyapunov function stability criterion,which enables the robot to track any given smooth path and course trajectory.According to kinematic constraints and the driving and steering wheel speed limitation,the robot body motion speed is limited to avoid approaching singularity in the moving process,and the trajectory tracking control is realized with optimal time control.4.The control system of mobile robot which is designed based on CoDeSys development platform,includes path planning module and control module.The path planning and motion control algorithms are verified by experiments.