Mobile Robot Tracking Control And Obstacle Avoidance Planning

This paper studies on the control character of the robot's motion on the base of three-wheeled mobile robot. The mobile robot's kinematics, path track, path programming are analyzed in the paper.This mobile robot control system is two layers: IPC as main, PLC as assistant. The position control module controls the mobile motor. In the experiment, VB6.0 is used to program the communication between the up CPU and the down CPU. This paper studies the mobile character on the base of two basic motion forms: the arc motion and the linear motion of the three-wheeled mobile robot.On the base of the terse wheeled mobile robot, the heading predicting prediction control algorithm is used the path following. This paper utilizes Fuzzy arithmetic to adjust the PID's parameter. The obstacle-avoidance is realized by all kinds of sensors. This paper describes a hybrid control architecture based on subsuming control architecture. The planning is regarded as a behavior, and processed synchronistically with the reactive behaviors.Emulator is programmed by VB6.0. The results of the emulator testify the method of the obstacle-avoidance is feasible...