Study On Path Planning And Trajectory Tracking For Nonholonomic Mobile Robot

With the fast development of new technologies in intelligent control, computer science and artificial intelligence, mobile robot are becoming more and more popular with its intelligence's improvement.especially path planning and trajectory tracking are the basis of mobile robot's movements, this technology can be widely used not only in civil areas but also in military, which have significant potential in research and application, and have been considered to be a core problem. On the basis of fuzzy control and adaptive theory, this paper has studied the path planning and trajectory tracking about nonholonomic mobile robot, all the work can be summarized as four parts as follows:Firstly, regarding to the theory about path planning, fuzzy control theory is demonstrated clearly, then, an active routing navigation strategy based on behavior and virtual intermediate goal is designed for mobile robot, which overcome the reactive navigation algorithm's shortsighted phenomenon and make the robot reach the goal smoothly. Simulation results provided the effectiveness and correctness.Secondly, the kinematic model of nonholonomic mobile robot with two actuated wheels is described, Based on the adaptive sliding-mode control theory and the backstepping control algorithm, an adaptive sliding-mode tracking controller with global asymptotically stability is proposed. This method simplifies the controller design and is applicable to the trajectory tracking control of the mobile robot. Simulation results are provided to demonstrate the effectiveness and correctness of the proposed method.Thirdly, the dynamic model of nonholonomic mobile robot is discussed, Using backstepping technique and adaptive sliding mode control method, a global asymptotically tracking control law is developed. The proposed control law breaks down nonlinear systems into two low dimensional systems, it can guarantee that the mobile robot will track the desired trajectory. The flexibility and correctness of the controller is verified by simulation results.Finally, the summarization of the work is pointed out and potential research direction is put forward in this paper.