| Mobile robot has become the center in the field of computer technology, automation and artificialintelligence in recent years. Motion control system of a mobile robot is designed in this topic andmodeling of robot, trajectory tracking control, design of servo system and control software and otherissues were studied with two-wheel differential drive wheeled mobile robot as the research object.At first, this paper summarizes the development history and current situation of the developmentof Mobile Robot, the research background and significance of the topic for this article is presented,and simply expounds the main research contents and work..In this paper, three-wheeled robot structure, the front wheels for a supportive role, rear two wheelsfor driving by a DC motor. In this paper, as a structure, the robot kinematics and dynamics aremodeled. With kinematic model based on, mainly Lyapunov direct method and backstepping oftrajectory tracking is studied. with the kinematic model based on, a simplified dynamic model isintroduced. Control law which is designed with a kinematic model is as input for dynamic model,using the method of variable structure control law of dynamic model was designed.In this paper, servo system of mobile robot was researched a lot and design of servo system wasintroduced. The various modules of servo system was detailed analysis, the hardware circuit of eachmodule was introduced in detail, and finally the various modules of the software were designed.Finally, the advantages of the VxWorks, communication among tasks of VxWorks operating systemand allocation and priority selection of tasks were introduced. On this basis, the control software ofthe system was designed. |
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