Research On Motion Planning And Control Of Mobile Robot Based On MT-FR

Intelligent robot is an autonomous mobile robot. The ability of self adaptation is mainlyembodied in normal working in the complex environment. It can organize and plan itself. Thegoal of the navigation problem of mobile robot is to reach the desired destination withoutdoing any provision to the environment or move along a path of pre-established in a particularenvironment. Intelligent mobile robots are used in the agricultural, military and entertainmentenvironment at present. The applications are mostly difficult to predict. Generally, the terrainconditions are more uneven ground. Therefore, cross-country flexibility for tracked vehicle isvery important in the independent task. There are advantages in situ steering, self reset and theability of climbing obstacle. In addition it is not easy to slip. The researchers widely at homeand abroad have very strong interest in tracked equipment technology. So the trackedequipment technology is brought to the attention of the scientific frontier. Intelligent robot isan important field of application of the research in the navigation technology and relatedtechnology. It is the core research of intelligent and autonomous intelligent robot. Pathplanning and path tracking as the key technology with practical application value ofnavigation technology is particularly to get attention. They have practical application value.The content of this paper is mainly:It analyses the system architecture and the mechanical structure of the researched MT-FRtracked-type intelligent robot. It carries on the concrete analysis of the force characteristicsand movement situation of specific. The current situation is that most studies focus onkinematics of the tracked mobile robot previously. So dynamics model is added. Dynamicmodel of tracked mobile robot together with the kinematic constraint equations is establishedin this paper at the same time.A motion planning algorithm for robot is designed. The information of environment ischange from time to time and the data is not accurate. It needs to plan for these changes. Inthis paper, the foundation is the original ant colony algorithm. Rolling window algorithm isembedded into the basic ant colony algorithm. Then it carries on the innovation to the originalalgorithm. And it forms new roll-ant algorithm framework. It designs the basic structure ofroll-ant framework and plans out the flow chart of the algorithm. A simulation study wascarried out using the MATLAB software. And m files were written. The usefulness of the newframework theory is tested through this platform.The MT-FR tracked mobile robot system this paper belongs to nonlinear dynamicsystem. A robust tracking controller is developed based on this situation. It can ensure thewhole system without interference and keep steady state within a parameter instabilityperturbation. The proposed controller comprises a fuzzy PID sliding-mode controller (FPSMC)and an adaptive tuner. The FPSMC acts as the main tracking controller, which is designed via a fuzzy system to mimic the merits of a PID sliding-mode controller (PSMC). The fuzzy rulebase is compact and only one parameter needs to be adjusted. The adaptive tuner is utilized toadjust the parameter on-line for further assuring robust and optimal performance.