Research On Motion Control For Mobile Robots Based On Vision System

Mobile robot is an important branch of robotics and will be widely applied in both military field and civil area. The soccer robot system is a perfect platform for the research of mobile robot. It has gained considerable attention in recent years. Motion control is one of the bases of mobile robot research, it can make great influence to working result of mobile robot. Motion control of mobile robot based on vision system has been studied deeply and systematically in the thesis, with micro-soccer robot system as research object and with vision servo system as configuration of the thesis. The contents are as follows: The micro-soccer robot based on Digital Signal Processing technology has been designed in the thesis to improve its real-time performance. The capability of robot has been enhanced because of the excellence performance of DSP chip (TMS320LF2407A). The problems appearing in the design process, such as voltage matching, electric filter design, communication protocol, wireless communication module programming, motor drive, PID controller design and so on, have been particularly described in the thesis too. The application of self-tuning PID controller based on fuzzy reasoning to the motion control of mobile robots has been presented, after the kinematic model of mobile robots has been analysed. Based on actual control requirements, the parameters of PID controller are adjusted automatically by the method, in which fuzzy reasoning is applied and the inference process of human being is impersonated. The self-adaptive capability is enhanced. The validity is verified by simulation and experimental results in two-wheels mobile robot system. Colony cooperation and coordination is the key technology of multi-robot system. The forecast and potential field subarea method have been brought out in the thesis to solve cooperation problem. The feasibility and validity of the method is validated in soccer-robot game. The summary of the full text and the view of mobile robot research have been shown in the end of thesis.