Portable Ground Mobile Robot Motion Analysis And Control

Portable track mobile robot has been a hotspot for its promising application. The research object of this thesis is a track-joint robot developed by ourselves.According to great difference of moving performance between track robot and wheel robot,this thesis puts emphasis on the analysis of the effect between the track and the environment,especially the curve resistance of the robot . The dynamics model of the track mobile robot is founded and validated by simulation and experiment. Aiming at the special structure of the robot, track-joint,the overpass ability in typical terrain is analyzed. And an action-plan algorithm is designed about how to cross the obstacle automatically.The controller is the core of robot control. The hardware of the controller use the hierarchical and modular designing ideas .It adopt parallel bus structure and the functional module can be expanded freely by the parallel bus. The software of the controller is designed by sequence of the ground motor control, communication protocol and the top application control. The whole controller runs well,and it can satisfied the need of the robot control.The problem of autonomous motion is also discussed. The Backstepping design idea and Lyapunov stability theory is used for design the path tracking controller of the robot. The controller's validity is tested by simulation and experiments. Referring to rolling window theory, the robot path planning algorithm based on the information of sensors is studied. It can insure the robot arrive at the destination safely in globally unknown environment, especially with moving obstacles. The algorithm's efficiency is validated by simulation results.