Algorithm Research On Trajectory Tracking And Route Planning Control Of Wheeled Root

In recent years, due to the potential application of wheeled robot technology, the trajectory tracking and route planning have been paid more and more attention by many researchers. The the trajectory tracking methods of wheeled robot is studied in this paper and the paper preliminary discuss on the path planning problem.Firstly, under studying the condition of the low speed or parameters change little, the classic PID method is used to realize the controller of wheeled robot, by correctly setting three parameters of kp, ki,kd, in the Matlab environment, verify the validity of PID controller.Secondly, according to back-stepping design method, based on the kinematic model of wheeled robot, the trajectory tracking of wheeled robot is designed. By constructing Lyapunov function, prove the global asymptotical stability of wheeled robot.Under the Matlab environment, the availability of the control laws is right according to track cosine and circular and time-variying trajectories.Thirdly, using sliding mode variable structure control, based on the kinematic model of wheeled robot too, to establish trajectory tracking control law, according to a new quick reaching law mentod to weaken the chattering in the sliding mode variable structure control, and the simulation results are analyzed in the Matlab environment.Finally, a heuristic variable step A star of route planning algorithm is used in the paper. According to the simulation results of Matlab, show that the algorithm can be successful to realrise real-time and online route planning with configurating the proper parameters.