Study On The Intelligent Control And Wireless Remote Control Of The Wheeled Mobile Robot

Taking the mobile robot with the front drivable and steerable wheel developed by ourselves as studied object and according to engineering practical application, the kinematic model, computer control system, signal measuring and processing technology, trajectory tracking controlled by double closed loop method of the mobile robots are investigated deeply and systematically. The theoretical kinematic model is set up by dead reckoning method which provide the foundation for the following control. The open computer control system of the wheeled mobile robot is developed by which the navigating signal is received and measured. The measured signals of ultrasonic sensors and gyroscope are studied by digital filtering with the preventing pulse method and low-pass filtration. And the above trajectory tracking controlled by double closed loop method and digital filtering methods are verified by the actual experiments. The results of former shows that the lateral position precision and orientation precision achieve ±5mm and ±0.3° respectively. The results of the latter obtain the good position information. In addition the basic research is carried out for the wireless control and the communication software is developed, the feasibility of which is proved by the experiment.As the research of the article is completed based on the mobile robot with the front drivable and steerable wheel, some new methods and thoughts included are all tested and improved by the experiment during researching procedure. So some methods and the relevant conclusions are all come from the practice which can be recommended reference when designing and developing the mobile robot.