Research On Control For Path Following Of Mobile Robot

The mobile robots have very extensive applications in many domains e.g. military scout, mine sweeping, nucleus contamination defending such as some dangerous conditions or materiel conveying in automation production. The essential of these applications mostly belongs to the problem of path following control for the mobile robot. In recent years, the problem of path following control has been paid much attention in all over the world. They have got some quite worthy fruits. With the increasing of task complexity, the requirement of the mobile robot has developed to more intelligentized direction. Presently, the rapid development of artificial intelligence and computer technology accelerate the imitation of artificial intelligence used in robots and advanced many fruits. However the path following methods who have relatively self-contained functions have the characteristic of complex calculation and hardly completing.According to the project "multiple mobile robots system coordination", this paper studied the path following control problem of two wheels robots with differential steering. Considering the restriction e.g. nonholonomic constraints and mechanism capability, an available and feasible method has been presented aimed at arithmetic optimized problem. The main contributions of the dissertation are summarized as follows:(1) The present state in the world on mobile robots is summarized.(2) The structure of mobile robots and the process of path following are introduced. Then kinematic and dynamic models of mobile robots with differential steering are presented. It established the foundation which can help to design a proper control method and implement simulation.(3) Considering the mechanism capability of robot and efficiency of path following, a new temporary path generator is designed. It can predigest the problem through minishing the initial error efficiently.(4) Traditional line of sight guidance is improved. The difficulty of controller design is reduced by adjusting the reference signal.(5) Based on the improved line of sight guidance and fuzzy rules, the speed controller is designed using sliding mode control theory. It can control the longitudinal and rotational velocities of the mobile robot to follow any path.(6) Through modeling and simulating in matlab/simulink, it shows the effectiveness...