Research On Motion Control Technology For Wheeled Mobile Robot

Focusing on the moving mechanism, sensing system and control system for the wheeled mobile robot are designed and manufactured for working in an unknown environment, the research of the architecture, sensor signal processing, motion control are presented in this thesis.Firstly, the research on the history, trend, architecture and motion control for mobile robots are reviewed, and the background, main research contents, and the research significance of this thesis are introduced at the same time.Secondly, a kind of wheeled mobile robot is designed, which adopted the architecture of two wheels differential drive and multilayer stack mechanical structure and used a special embedded computer PC 104 as the kernel of the robot motion control system. In the design, the controller system includes modules such as PWM driver, sensors, digital compass, power supply, executive mechanism, motion control system and so on. In addition, the hardware and software of the control system and sensors system are described systematically and some hardware circuits are presented.Thirdly, by the analysis of the kinematical model of the wheeled mobile robot, the thesis proposes a method of a new PID motion controller which is based on the parameter distributor without the decoupling of the two motion control parameters (velocity and angular rate) to overcome the problem that the effect of a wheeled mobile robot's angular rate control is weak arises from the great error of the actual angular rate and the demanded angular rate because of the sliding of the wheels. The results of the experimentations of motions control show that the controller is feasible and effective.In addition, the fuzzy PID algorithm based on fuzzy inference engine and...