The Motion Analysis And Tracking Technology Of Moble Robot On Different Terrain

The research of mobile robot is an important aspect of robotic research field. It is required todo some tasks successfully in some place where is dangerous or inaccessible by people. In therobotic research field, the driving conditions of the mobile robot in complex terrain conditionswill be subject to a variety of factors.The motion analysis study of mobile robot under differentroad conditions-based has important and practical significance.In this paper, a new approach of transforming the stress-strain relationship into the methodof Motor Current vs. Rate of turn(MCR) was used, complete the characteristic analysis ofWheeled Skid-Steer Mobile Robot(WSMR) in different terrains, and it will be introduced intothe potential grid method to complete avoidance of obstacle under different terrain conditions.The experimental mobile platforms using both sides of the four-wheel differential drive structure,applicate the full control switching power element adjusting pulse width modulation (PulseWidth Modulation, PWM) to control the motor, use ultrasonic sensors, GY27three-axiselectronic compass and motor current detector detecting devices, write the control proceduresand study the experimental analysis by using Keil uVision4software, ultimately carriy outexperiments under various terrain environment.The experiment collected the data of five typicalterrain conditions including gravel, sand, grass, cement and loess, then drew the different curvesof MCR corresponding to the different terrains by analyzing data and complete the simulationexperiment of tracking path.This paper focuses on the operational status of the mobile robot in different terrains andartificial potential field grid method based on fuzzy control will be togethered with MCRanalysis method, complete the collection of experimental data and depict the correspondingMCR curve, a variety of typical environment simulations will be finished in Matlab. Bycomparing the simulation results with improved results before, prove the effectiveness of thismethod as well as the significance to the practical application.