Research Of Trajectory Control Technology Of Wheeled Mobile Robot

With the development of the science and the technical progress, the robot will be more and more applied to the all kinds of human social application area, such as industry, agriculture, department of defense, scientific experiment and service profession, the mobile robot is the most embranchment for the robotics.At the same time, because of the more flexibility, the mobile robot has been a investigative emphasis.The mobile robot is a intellectualized machine system that is with the perceptibility of environment, dynamic decision-making and the planning, behavior controlling and executing.Its research is concerned with multidisciplinary theory and technique, such as the sensor technique, artificial intelligence, automatic control, mechanology, which can embody the up-to-date achievement, the expansion of application area, being possessed of inportmant value. And, the wheeled motion robot holds the big market to divide the volume, its application prospect is very broad.This paper is mainly responsible for the operation of wheeled mobile robot trajectory control part of the study, one aspect, the author carrys out deepgoing theory study, doing interrelated design in the hardware and software programming; another aspect, the author does a lot of experimental studies, doing the off-lining real-time control.Through the careful observation , the author modify interrelated parameters.Based on the experiment, the obstacle avoidance action has been acquired ideal control effect, making the mobile robot could in time, effective, stable and scure avoiding the obstacle, Has met the robot wheeled motion robot marches forward when steady and when the movement path's smooth requirements.This paper's major study content include:1) It has brought forward the method of controlling the moved trajectory of WMR using fuzzy logic because of deficiency of the traditional PID method controlling the trajectory of WMR. First, the paper has built WMR's kinematics model and dynamics model that can be used to build the WMR's motion control model, and also analysis the moved robot using the method of fuzzy control. Designs the fuzzy control device of moved robot and does some experiments to realize them which indicate that the control device can the difficulty of adjusting parameter and improve the accuracy that trajectory controls.2) Studies the I~2C technology and analysis the realized process of I~2C's time-sequence signal and data communication. Programs to realize the data communication between ARM and PIC through I~2C.3) Design and fabricate the PIC monolithic machine control panel. Have realized the PIC monolithic machine controlling to retinue wheel electric motor of moved robot by the hardware design and software programming to PIC monolithic machine control panel, therefore controls the trajectory of moved robot. Amendment the motion trajectory of moved robot through the division of time in the process of WMR's moving.The innovative of the paper:1). Controls the motion trajectory of moved robot using the method of fuzzy logic.2). Realizes the data communication between ARM and PIC through I~2C3). Amendment the motion trajectory of moved robot through the division of time.