Lin-based Mobile Robot Motion Control Mechanism

The research on mobile robot is a hotspot in robotics. It has attracted the participation of lots of researches. Mobile robot has huge applications in the future. A low cost LIN communication is an effective solution for electrical equipment interconnection in mobile robot and industry.This paper aims at mobile robot motion control study based on LIN communication. It introduced the development situation of mobile and service robot, pointed out the key technologies in mobile robotics. It analyzed stability, mobility and controllability of the mobility robot, studied wheels kinematics constraints and established differential drive mobile robot kinematics model. Based on these studies above, a 3D model was established, and a mobile robot sample was assembled. It did research of path planning technology and path tracking technology for the mobile robot. The path planning technology is based on neural network and the path tracking technology is based on fuzzy logical controlling. It proposed that simulate annealing algorithm is well for finding the best path and conic tracking controlling is well for fleetly correcting the pose error. This paper systematically and deeply discusses LIN communication theory, applies LIN communication technology to mobile robot in a creative way, and provides a low cost solution for mobile robot network interconnect. We designed and produced a driving and controlling system for DC motor and a fuzzy logical controller system for path tracking, which is based on LIN communication technology, firstly applied KMA200 programmable angle sensor to measure motor speed, and used an improved DC motor for the mobile robot driving. We designed and produced some necessary hardware and software as well, which are going to debug the function models of the tow control systems. Based on the successful debug, we design the whole software for the two control systems.The research shows that mobile control technology which is based on LIN communication is feasible and has very high use value and bright future.