Mobile Robot Path Planning And Control Research

The research mobile of robot has made large progress in recent years. Mobile robot has been applied in industry, agriculture, military, education and so on. This paper mainly research problem that path planning of mobile robot in global unknown environment with moving obstacles. The main of contributions are given as follows:1. Studied mobile robot kinematical model, a system of ultrasonic sensor was presented. A control system model of mobile robot was presented.2. Multi-input multi-output system was dynamic Spread, and singular-input singular-output system was obtained. By using Popov's hyperstatic theory, an adaptive fuzzy controller is proposed to control a class of singular-input singular-output nonlinear system.3. With information which sensor obtained, cluster approach was used to separate dynamic objects and static objects. Using the estimate of least squares to arithmetic forecast kinematical trajectory of dynamic objects.4. Designed the path planning of a mobile robot. The trajectory tracking control problem of a mobile robot is discussed. An obstacle avoidance method based on circle locus is put forward.