Research On Autonomous Mobile Robot

Research of autonomous mobile robot is an important branch in the field of robotics.In the research of autonomous mobile robot, path planning and motion control is the mostbasic, the most important content. How to realize the robot to understand the environmentof the built environment model; how to find the collision-free path in the givenenvironment model; how to control the motion of the robot in order to realize robot’s pathplanning and trajectory tracking.These problems have become the key point.Based on this,This study is divided into two levels,.The first is the mobile robot’s path planning level.The second is the robot’s motion control level.In the path planning, on the base of ant colony algorithm which belongs to intelligentalgorithm, we emphatically discuss the basic principle of ant colony algorithm, themathematical model of ant colony algorithm, the application of ant colony algorithm inpath planning and apply it into simulation. In the course of the experiment, we found thatThe choice of parameters in ant colony algorithm have a great influence on the algorithm’sperformance.And then we construct the Oliver30cities experiment platform based on antcolony algorithm.The range of important parameters of ant colony algorithm aredetermined.On the basis of this, we apply particle swarm algorithm into the optimalcombination of the paramenters of ant colony algorithm. Ultimately, we determine theoptimal combination of parameters of ant colony algorithm for path planning of robot. Bysimulation experiments, we compare the performance before and after improvement plan.In motion control, firstly, we discuss the PID algorithm in the robot path tracking, andwe realize the path tracking which is planed in the last level. The results of simulationshow that the PID algorithm is effective.Secondly, based on the Lyapunov function, wedesign the speed tracking control law. And the correctness of this method is proved bysimulation experiments.So far, the autonomous mobile robot’s path planning and trajectory tracking has acertain foundation of theory and practice, many scholars still study it as the emphasis anddifficulty. Intelligent method such as ant colony algorithm is introduced to the robot pathplanning and trajectory tracking, and it is one of the important research directions.