Research On Path Planning And Trajecttory Tracking For Nonholonomic Mobile Robot

Along with the rapid development of the related technologies such as computers,artificial intelligence, and the higher demands for human quality of life, the mobile robottechnology has been developed rapidly. For mobile robot, it is an important reflection ofthe robot intelligent to look for a good path and execute this path effectively. It involvespath planning and trajectory tracking control problem. This paper takes nonholonomicmobile robot as researching object. It does deep researches on path planning and trajectorytracking control. The major research contents are as follows:Firstly, this paper summarizes the background and significance of the research,introduces the concept and the research status of path planning and trajectory trackingcontrol, analyzes the typical structure of the mobile robot. For nonholonomic mobile robot,the kinematic model and dynamic model is deduced.Secondly, aiming at the problem of path planning of mobile robot, this paper employsthe artificial immune algorithm to search the optimal path. The working environmentmodel of mobile robot is built by using geometric method, and a path search algorithm isresearched based on the biological immune mechanism. In the path searching, the negativeselection method is used, that improved the search efficiency. The concept of antibodyconcentration is introduced when affinity constructing, which in evolution process keepthe diversity of the antibody. The experimental result shows that this method has bettereffect of planning than the traditional genetic algorithm.Thirdly, aiming at the problem of trajectory tracking of mobile robot, this paper usesthe sliding mode control algorithm that has good robustness, high reliability. Based onkinematics model, sliding model trajectory tracking controller is designed. Meanwhile, inorder to weaken the chattering phenomenon, double power reaching law is used. Thispaper gives experimental result of two different trajectory and proves the availability oftrajectory tracking controller.Finally, the fast terminal sliding mode trajectory tracking control problem based ondynamic model is researched. This paper adds a nonlinear term to the linear sliding mode formular that can’t convergence in limited time. Combined with the idea of backsteppingmethod, a fast terminal sliding model trajectory tracking controller based on dynamicmodel is designed. The experimental result shows that this control method is feasible andeffective.