Research Of Human Simulating Intelligent Control For Mobile Robot

As one of the main branch of the robot,"mobile" has always been its ability to simply, is the basis for the expansion of its functions, only their performance in the mobile with a high degree of accuracy, operability and flexibility of the future can have a much larger margin for other services. At the same time, as a complex intelligent control systems, mobile robot involving artificial intelligence, control theory, sensor technology and computer science and other subjects.Human simulating intelligent control makes use of multiply mode control way, it combines close-loop and open-loop control, qualitative and quantitative control together. Its validity in mobile robot has not been fully studied. This thesis provides a comprehensive and systematical investigation of applications of wavelet theory in this area.Select car like mobile robot as a platform to build the control model of control system. Control circuit and driver circuit for mobile robot are designed, software and hardware platform for intelligent control theory are built for the research of human simulating intelligent control theory. Then, the location model of mobile robot in the course of motion and the mathematical model of the DC electric machine had been established. Traditional differentiation element was replaced by the trace differential, simulations show that human simulating intelligent control theory is applicable to the DC electric machine control system. At last a control strategy has been advanced, simulations show that rapidity and stability are verified in path tracking under this control strategy.