Signal Measurement And Intelligent Control Of An Autonomous Mobile Robot

The thesis is centered on mobile robots independently developed by the institute. Some emphasises or difficulties in design, development and application of mobile robots are studied by employing computer technology, classical cybernetics and modern cybernetics, sensor measuring technology and signal processing technology. The project has been fulfilled with the technologies of dynamics analysis, signal measurement and processing, computer control in navigation and location, intelligent security and intelligent load dynamics compensation.The body of mobile robot is the controlled object of the system so that its dynamics performance prodigiously impacts on controlling capability of the control system. Proceeding from electro-mechanics' integrated design, analyses and optimization in kinematics and dynamics are implemented for robot mechanism before the computer control system is designed. Especially the inductive motion and redundant power in serial mechanism are mostly discussed. Meanwhile, the relationship of dynamics couple between manipulator and mobile platform of mobile robot is also discussed and an optimization idea of mobile robot dynamics is proposed.For enhancing practicability of mobile robot, a location and orientation measuring device, which is composed of coder, gyroscope, digital compass and ultrasonic sensor, is designed and tested on the mobile robot, and a digital recursion filter is adopted in processing disturbance signal to insure availably obtaining real measuring value. The Kalman filter is employed to fuse the redundant information of multi-sensor. Compared with single sensor measurement, the fused data obtained by multi-sensor fusion are more accurate and more reliable.A new collision sensor is developed to further improve the security and reliability of mobile robots. The sense organ of the new sensor is made of PVDF. Compared with other mechanical collision sensors, this new sensor has some advantages such as simple structure, installation facility, sensitive response and lower cost. It can not only detect the occurrence of collision but also detect the position of the collision. Combining this sensor with ultrasonic sensors, a block avoidance and collision free measuring system had been developed, which has advantages of big detecting range, sensitive response and higher reliability.A load compensation method is used to compensate and revise the helm angle error caused by dissymmetry of load in longitudinal. The load is indirectly measured through measuring the longitudinal obliquity of the mobile robot, which solved the difficult problem of load measurement in a simple, economical and practical way.As the study in this paper was completed in the process of developing several kinds of mobile robots, the new thoughts and methods presented in the paper have been tested practically and corrected in time. Thus, the methods and relevant conclusions presented in the paper possess practical significance and can be referenced in the design and development of mobile robots.