Research On Control Strategy Of Tractor-trailer Mobile Robot With Two Trailers

With the continuous progress of science and technology and the social development,Mobile robot with trailer is more widely used in transport, logistics, military reconnaissance,and industrial automation. The system has the flexibility to change the number of trailers,Therefore, it is widely used in ports, railway stations, airports and other occasions Where needfor the occasion of the transport of goods, Work environment from a simple room extended totoday’s complex indoor and outdoor environment，including ground, underground, underwateror even extraterrestrial. The mobile robot can greatly improve efficiency, reduce costs, many ofthese applications can be attributed to the path tracking control problem. In practice, the use ofa large number of mobile robots promote the development of the field of mobile roboticsresearch, and mobile robot path tracking problem as an important component of the field ofmobile robotics research, attracts many scholars attention. Because of the late start in ourcountry, whether in research or practical applications are far behind Western countries.Therefore, the mobile robot motion control research has high theoretical and practicalsignificance.At present, the main research contents of the robot include recognition and modeling ofrobot, environment perception, path planning, positioning and navigation, cooperation andcontrol of many mobile robots. As the robot with trailer, the path following is of the mainproblem for controlling the motion of the robot, and it is also a real problem. The mobile robotis extensively used in many fields, such as the array and risk, military investigation, nucleationpollution prevention and materials handling of automatic industrial production, and the natureof these applications is largely belonged to path tracking control problem.Mobile robot with two trailers along a fixed path for a given movement is studied in thisdissertation. In the process of movement. We must ensure that the whole body can not have anycollision, but also to meet the accuracy requirements, so that the whole body will not deviatefrom the path of the planning in case there is an obstacle. Due to the presence of multi-body ofTTMR, the problem of path tracking becomes particularly complex, especially the reversetracking is control difficulty of TTMR, attracting wide attention at home and abroad scholars.For the forward and reverse path of the mobile robot with two trailers tracking, this paper mainly completes the work of the following aspects:Firstly, this paper analyses the kinematic characteristics of the mobile robot with trailer,introduces the mobile robot path tracking process, Kinematics model of mobile robot with twotrailers, and verifies the correctness of the kinematic model, laid a theoretical foundation for thedesign of control algorithms and motion simulation.Secondly, for the tracking problem of mobile robot with trailer path, proposed a controllerbased on PID-LOS (Line-of-Sight) method. The controller enables the mobile robot to the prosand cons to track a given route.Thirdly, In order to achieve the tracking task, proposed a method based on the PID-LOScontroller, adjust the PID parameters, so the controller can achieve the desired path trackingperformance.Fourthly, The path tracking control of mobile robot with two trailers simulation verify thefeasibility and effectiveness of the proposed method.