Study On The Motion Control Of Wheeled Mobile Robot

With the rapid development of mobile robots technology, the range of its application is growing fast. It has been played a more and more important role in the field of industry, agriculture, military, space exploration, family services and so on. The developing level of mobile robot becomes an important sign which weighs a country’s modernization level, so, each country of the world have studied deeply on all areas of mobile robot.Both the design of robot’s structural and technology of motion control are two important research directions in the research field of mobile robot. It will provide an experiment platform for researching deep theories and technologies of mobile robot. This thesis used family service robots as background and finished the design of robot’s structural and motion control system, explored and researched in aspects of tracking control of mobile robot. The main content includes three parts as follow.Firstly, in this thesis, the robot which has been designed is working at indoor and outdoor better pavement, so, the moving mechanism with four wheels was selected as the robot walking mechanism. The moving mechanism is well stability, strong flexibility and has some loading capacity. Based on the robot’s mobile mechanism was selected, the robot’s structure, drive system and sensing system were designed, overall structure of robot control system was determined, at last the kinematics model of the robot is developed and make kinematics analysis for the robot.Secondly, the mobile robot motion control system with C8051f040is developed, gave a detailed introduction on how to design the modules of motion control system hardware, including power module, human-machine interface module, serial communication module, motor driving module and speed detecting module, it was summarized that some problems which should be noticed in designing hardware. Then, give software design for the main program of motion control system, motor driving module, speed detecting module, Linear motion control and steering motion control.Finally, this thesis explored and researched on tracking control of mobile robot, on the basis of kinematics model of the robot, two methods were adopted to design algorithm of trajectory tracking control, one is Lyapunov function and the other is sliding mode variable-structure control, then did simulation experiment in the environment on MATLAB. The simulation results showed that designed algorithms were correct and effective.