Research Of Mobile Robot Motion Planning And Tracking Controlling

Mobile robot has been the rapid development in applications as an important branch of robotics in recent years, the motion controlling and path planning is one important research aspect of the mobile robot. The thesis's research makes a study of mobile robot's motion controlling and path planning based on the mobile robot Qbot which is made by Quanser Company. The main contributions of the dissertation are summarized as follows:Firstly, Mobile robot's application and navigation technology are summarized. Several methods which used in mobile robot's motion controlling and path planning are described. This thesis has also introduced the mobile robot Qbot and the test platform.Secondly, this paper presented a mobile robot path planning method based on neural networks and genetic algorithm. The environment is modeled by neural network; the updating method of the neural networks for the dynamic environment has been given. Genetic Algorithms was adopted to find out the best path. Theoretical analysis and simulation results prove that the above strategy and algorithm is correctness and effectiveness.Finally, the kinematic model of Qbot is established. Then, designed two simple path following controllers. The trajectory tracking controller based on kinematic model is designed by the Backstepping technology, the controller is proved to be global stable with Lyapunov theory. Simulation and experiment show the above controllers are valid.In the end, this thesis makes a summary about full text and looks ahead the application of technologies of path planning and tracking controlling.