Research On Control System And Path Planning Of Wheeled Robot

Based on the research of wheeled mobile robot, its mechanical structure and control principle was described. Four serial communication chaannels based on a chip TL16C554A were extended. DTD465A data transfer module was chosen to achieve the wireless control of robot wheels. The motion control module of the wheeled robot was designed to achieve accurate control of robots. The kinematic model of the wheeled mobile robot was established. The expressions of robot trajectory wan derived. The path planning method of the robot trajectory was proposed. Local interpolation function of the robot trajectory was proposed based on PVT motion mode. Automatic navigation algorithm was created while the robot moved along the curve path given by discrete points. Intelligent speed controlling method was researched which was based on turning radius. Finally, the expressions of robot trajectory was proved true through the simulation tests. The feasibility of the algorithm was confirmed through simulation analysis and the expected path planning was completed..