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Path Planning And Trajectory Tracking Of Mobile Robot

Posted on:2007-06-22Degree:DoctorType:Dissertation
Country:ChinaCandidate:Z M WangFull Text:PDF
GTID:1118360212967909Subject:Mechanical Manufacturing and Automation
Abstract/Summary:PDF Full Text Request
This paper primarily takes nonholonomic wheeled mobile robot (WMR) as researching object. It does some in-depth researches on path planning and trajectory tracking controlling in the field of motion planning of mobile robot. It mainly includes four parts as follows:Research of mobile robot global path planning in static structural certain environment. Based on neural networks and collision punish function an optimization model is established, and then the model is solved by using simulated annealing algorithm (SAA). It is well known to all that convergence speeds of classical SAA are very slow. So aiming at improving the convergence speeds of SAA, this algorithm is modified at first, then a new modified SAA (MSAA) is put forward. Secondly, two new hybrid optimal algorithm are brought forward subsequently. They satisfy the demands of real time of system all together and realize global path planning of mobile robot, also. Finally, by utilizing DFP variable metric method combined with particle swarm optimization (PSO) algorithm, the tasks of global path planning are accomplished quickly.Research on local path planning of mobile robot based on Q reinforcement learning and CMAC neural networks. The robot senses the states of environment and selects right behavior through reinforcement learning. It is some uncertain prize value acquired from the environments that become the optimum behavior strategy. By using CMAC networks the Q reinforcement learning is realized. And credit assignments of the data, which have being learned, must be fully considered when adjusting the weight of networks. So it obviously improves online learning speed and its accuracy of conventional CMAC. Finally, local path planning in complex environments are completed and the effects are good.Research on trajectory tracking problems of nonholonomic WMR by using control theory and method of adaptive control, optimal control and fuzzy control, etc. It drives the mobile robot to achieve results of perfect so much as optimal controlling at last. (1) A new velocity tracking control strategy is designed based on Lyapunov function. By using this the WMR fulfills to track an expectation trajectory exactly. (2) Including motor dynamics model, an adaptive controller, which can make the system of mobile robot be global asymptotically stable, is presented. It can get rid of influences of modeling errors and external disturbances at the same time. And some simulation experiments are carried out later. (3) An optimal controller is designed based on linear quadratic regulator (LQR). Because it is difficult to determine the weighted matrix Q and R, so...
Keywords/Search Tags:mobile robot, path planning, trajectory tracking, nonholonomic
PDF Full Text Request
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