Mechanical Design And Research On Motion Control Of Wheeled Mobile Robot

Because of its super performance in movements and the very broad range of application, mobile robot systems have received much consideration in the past decades. Much research has been carried out in mechanical design, posture detection, visual navigation, path planning, trajectory tracking and controller design.This research is for designing a wheeled mobile robot (WMR). Because wheeled mobile robots are typical examples of mechanical systems with, nonholonomic constraints, which cannot be made asymptotically stable by smooth feedback, motion control of WMR has some difficulties. To find a stable and effective control algorithm become the target of the researchers, which promoted development of the control theory, particularly nonlinear control theory.The main work of this paper as follows:Firstly, the paper reviews and introduces the concept of the mobile robot, classification, present situation and development trend. After analyzing the robot system’s architecture, the paper defines the main task of this project.Secondly, after studying the successful publications of former researchers, designed the robot’s mechanical structures, and produced a prototype robot.Thirdly, established the WMR’s kinematic model, and then accomplished the kinematics and dynamics analysis, finally carried out simulation using ADAMS. Based on the kinematic analysis, designed a trajectory tracking control law using the Lyapunov direct method, and conducted a simulation using MATLAB.Finally, summarized the main work in my study and proposed some insights into the future development of our research.