Localization And Motion Control Of Autonomous Mobile Robot

The research on Autonomous Mobile Robot is one of the emphases of mobile robot research. Because of its tremendous potential market, Autonomous Mobile Robot is attractive to many specialists and scholars. This thesis takes the mobile robot designed and developed by ourselves as an object of study, it accomplishes the design of the software and hardware platforms of motion-control system and sense-measurement, and then analyzes and researches the problem which appears in the mobile robot's wall-following experiment . The main work and contribution of the thesis are as follows:Firstly, it mainly introduces some pivotal technique of Autonomous Mobile Robot, the background and the meaning of this study. And it summarizes the primary content of this paperSecondly, the kinematical characteristic of mobile robot is analyzed in this paper. Based on the kinematical model, the relationship between the line velocity and the angular velocity of mobile robot is discussed, and the relationship between swerve radius and wheel's line velocity square difference is indicated, and then the paper accomplishes the design of the mobile robot's bodywork.Thirdly, The motion-controlling system of two-wheel differential driving mobile robot is designed, including motion control circuit, DC driver circuit, photo electricity isolation and speed sensor circuit. A novel design of DC motor's drive based on CPLD is introduced..Fourthly, the design of robot's sense system is completed, including a novel detection system based on transceiver ultrasonic sensors and stepping motor, the software and hardware platforms of electronic compass, infrared photoelectric sensors, communication module anddisplay module.Fifthly, Localization information which mobile robot's wall-following needs is acquired by transceiver ultrasonic sensors and electronic compass, and fuzzy logic method is introduced in the wall-following experiment.In the final of the paper, the research and results are summarized. The future of this researchfield is described.