Research On Navigation, Control And Path Planning For Wheeled Mobile Robots

With the rapid development of computer, network, mechanics, electronics, informatics, automation and artificial intelligent technology etc, robotics has entered a new stage. The exploitation of space&ocean provides a huge market for robotics.According to the two projects, "gyroscope guided Automatic Guided Vehicle (AGV) system" and "multiple mobile robots system coordination", in the dissertation, single wheeled mobile robots and multiple mobile robots system coordination are studied. The main contributions of the dissertation are summarized as follows:(1) The present state in the world on mobile robots is summarized.(2) Kinematic and dynamic model of the two kinds of mobile robots are designed, which are the mobile robots driven and steered by front wheel and the mobile robots driven by two different rear wheels. Since the existence of the inequality of two rear wheels' diameter and the inaccuracy of the measurement in engineering, gyroscope and milemeter are used to modify the kinematic model.(3) The navigation and localization for mobile robot is researched. Integrated navigation with inertial navigation of gyroscope and milemetor and magnet sensor modification is analyzed. The data is processed with Kalman filter algorithm, and then the experiment is done. The result shows the integrated navigation can deal with the intrinsic drawback of single inertial navigation that the error is accumulated with time, which is applied in engineering.(4) The path planning for mobile robots is studied. The path planning on fuzzy logic for mobile robots is analyzed; the simulation is carried in the environment of the removed obstacles and encountered obstacles, the result shows the method is valid and the mobile robots arrive at destination safely with avoiding obstacles.(5) On the basis of revising conventional conic path, quartic curve path is designed. The curvature of quartic curve path can be changed...