Kinematics Modeling And Study For Path Tracking Of Track Robot

Kinematics modeling of mobile robot is the base of achieving Path–Planning and dynamics'control. It is very important in the studying about mobile robot. According to the known literatures, the content about wheeling robot is more, but seldom about track robot. So, the paper develops study about kinematics modeling and path controlling of track robot, with the support of study item of the Inner Mongolia University Of Technology ,whose name is《study about track-leg compound mobile robot system》.Kinematics modeling is the base of path controlling for mobile robot. So, this article makes the Kinematics modeling of a track mobile robot and introduces the functional relationship between the rev of two wheels, the speed of crucial point and the rev of vehicle. In the real controlling, this article uses DSP controller to control two left-right electrometers independently. According to the disadvantage of the resolved motion rate control algorithm based on Generalized Jacobian Matrix in the Motion planning for differential drive mobile robot, here proposes an improved new algorithm. Because in the old the algorithm backward matrix of the Generalized Jacobian Matrix must be computed in every little period, it increases the calculative quantity and decreases accuracy of the algorithm; in the improved algorithm, we can compute the backward matrix directly instead of computing the backward matrix of the Generalized Jacobian Matrix and this avoids the disadvantage, which is in the old algorithm. Through cyber- emulation, it is shown that the improved algorithm can makes approaching to the decided path come true.