Research Of The Montion Control On A Wheeled Autonomous Mobile Robot

Mobile robot has been a hot topic in the robot research field, in this research project, we design a four wheeled nonholonomic mobile robot, in this robot we choose an industrial control board, based on ARM9, which was designed by Feiling Embedded Technology Corporation, as the main processor. In this paper, take this mobile robot as the research object, the problem of path-planning and path-tracking were studied.In this paper, at first, the summary the research situation and development tendency of the mobile robot in the modern world was given, the background and meaning of this research project were introduced, the research content and the achievements of this thesis were carried out.Then, the design process of the mechanical structure and the control system of the wheeled mobile robot were given in detail. This mobile robot take a four wheeled structure, the wheels in the left side and right side were driven separately, the front wheels and the back wheels were driven with a timing belt, in this structure the robot can complete the motion of moving forward, backward, and turning its direction. The kinematics analysis based on this mobile robot was introduced in this thesis. The robot designed by this research project was composed with main controller, orientation module, position control module, perceptive module, human-computer interaction module and power system. The design and model selection processes of each module were introduced detailedly in this thesis.At last, in this thesis, the path-planning and path-tracking problem was studied, in this research, a path-planning method based on genetic algorithm and a motion control method based on a improvable iterative learning control algorithm were designed.By imitating the process of exploring the environment, avoiding the obstacles and getting to the end point, a path-planning method based on genetic algorithm was design in this paper, the simulation results of MATLAB software shows that the algorithm can meet the goal which was anticipated. As for the path-tracking problem, a motion control method based on iterative learning control algorithm was design, by changing value of a parameter in the control rule, the control effect can be improved. So according to different control situation, the best control rule can be chosen. After simulating by the software of MATLAB, the result shows that the algorithm can meet the control goal.