Trajectory Tracking Control Of Mobile Robot

The control of mobile robot in trajectory tracking involves multi-disciplinary and multi-technology, with a combination of computer science and technology, intelligent control and automatic control technology, the development of which plays an important role in national defense, economy, military and science and technology. It is mainly the development and research of the software and hardware platforms of mobile robot and the key technology in trajectory tracking in this article, which is of great significance in improving the overall level of national high-tech and of fewer significations in improving human social life.The paper discussed the current domestic situation and development tendency about the control of mobile robot in trajectory tracking, conduct a research focusing on six-wheel mobile robot driving by two motors. The system’s hardware centers on an embedded system development platform of ARM9processor. In VC++6.0environment, combined with the motor drive controller modules, a PID trajectory tracking control algorithm based on neural network is put forward.First, according to the overall design of the system, we specify the structure of the mobile robot, and complete the core power of robot trajectory tracking control by using the way of programming in Linux system--the design of embedded systems and motor drive controller. The architecture of hardware is given and the function and role of each module in the architecture is described, what’s more, a platform of software system is built.The second is the analysis of the structure characteristics of the mobile robot system. Coordinates of the mobile robot in the global coordinate system and the local coordinate system is constructed, the dynamics characteristic of the nonholonomic constraint object is cleared, kinematical and dynamical models that signs the motion of the object is established, and finally the mobile robot trajectory tracking controller is designed.Finally, in view of the established model of robot,and though the analysis of the error equation about the current position and target position, it studies the trajectory tracking control algorithm based on neural network PID, has completed the analysis and design of the mobile robot trajectory tracking controller. Its results verify the rationality and validity of the algorithm of neural network PID controller in the wheeled mobile robot trajectory tracking control.