Crawler-type Mobile Robot Local Path Planning And Path Tracking

Mobile robot is a integrated system that combined many function, such as environment apperceive, dynamic decision-making, behavior control and execution. Tracked mobile robot is different from the wheeled robot, it can pass all kinds of complex terrain, and can work in execrable environment, instead of the people to complete the dangerous work. Hence it has important sense to research intelligence control of tracked mobile robot, path planning and path tracking is key technology in robot research. This paper research some problem of the tracked mobile robot' s path planning and tracking. There are some points as follows:1 Introduce the airmanship technology and presently research situation in path planning and path tracking of the mobile robot, introduce the robot' s sensor system, analyze kinematics character of the tracked mobile robot.2 Discuss the practicability of applying the fuzzy control theory in the tracked mobile robot. When designing the fuzzy controller, analyze the problem in the ancient arithmetic, present the fuzzy control project in the single obstacle environment, and import the concept of collision dangerous degree using in multi-obstacle environment. In the end, simulate it with VC++.3 Research the path planning based on path understanding, adopt the method that using b-spline to get the path. In the path tracking module, adopt the beforehand aiming arithmetic based on PID controller, including the speed control and turning control. In turning control , compute the next cycle' s angle speed via choosing suitable beforehand point, then put the result into PID controller to get the next angle speed via PID operation. Then import fuzzy PID parameter online adjusting method to adjust the parameter. In the end , simulate the path tracking module with matlab.