Disturbance-based Autonomous Mobile Robot Tracking Control And Drive Strategy

The paper studies a full-area coverage autonomous mobile robot, some main parts of the paper are discussed as following: first, take the full consideration of the disturbance caused by uneven ground, the kinematics model and dynamics model of the robot are proposed. The reliable and steady trajectory tracking control algorithms are designed based on the proposed models. The control algorithms can make the mobile robot robust while working in the outdoor environment. Second, based on the research of robot's behavior features, the corresponding drive strategies are put forward aiming at the various tasks. Especially, the strategy of obstacle avoidance behavior is studied in details using the fussy control theory. In addition, using nonlinear H∞ theory, the stabilization control of the mobile robot is studied deeply, the optimized disturbance attenuation control of the partial stability can be found. Finally, the hardware and the software systems of the mobile robot are designed based on DSP process chip. The research presented on the paper is valuable to the development of the region-coverage mobile robots.