Research On Motion Control System Of Wheeled Patrol Robot

Along with the rapid progress of urban construction, the scale and quantity of supermarket, large logistics warehouse, convention and exhibition center, hospital, auto show, airports and other places continues to expand, the stream of people and logistics are more complex. The living community and high-grade office buildings of large or medium cities are increasing, the security patrol automation has become increasingly urgent. Currently location monitoring relying on manpower patrol or CCD has been unable to satisfy the growing security requirements, combining mobile robot technology, fixed-point monitoring and continuous patrol by using robots is the best solution. Mobile is the prime function of patrol robot, quickness, accuracy and reliability of robot motion control system is the precondition to complete various tasks. Study and optimize the patrol robot motion control system is of great significance, In this paper, the main work and research results are as follows:① This paper puts forward overall design scheme of the patrol robot system, and analyzes the various functional modules in more detail; This paper also researches advantages and disadvantages of all kinds of steering mechanism for the site conditions, designs patrol robot mechanical system; According to the system requirements, selects AC servo drive devices, and gives the basic architecture of motion control system.② In the order from the bottom to upper motion, patrol robot’s motion control algorithms are studied in detail. PID three-loop control algorithm is used to drive servo motors, ensuring the positioning precision of both speed and torque at the same time. S curve algorithm is optimized to simplify the robot speed curve, realizing fast, smooth and flexible control performance.③ To solve the problem of low tracking precision and poor stability, this paper proposes a novel control strategy based on the memory algorithm. Through analyzing the patrol robot’s kinematics model, the path information is obtained. The optimal control is realized by fusing the historic operating parameters and the current feedback information.④ STM32 chip which is ARM core is used as system controller, the system software and peripheral circuit of this controller are analyzed and designed. The hardware design includes the main control circuit, various sensing unit design, CAN communication interface and so on. System software design includes main program, communication interface program, the steering positioning procedures, acceleration and deceleration algorithm, automatic tracking control program.⑤ The patrol robot’s function are tested and analyzed on the experiment platform. This paper debugs and corrects three-loop responses and J value of S acceleration and deceleration curve algorithm respectively to analyze the patrol robot’s steering performance and speed regulating performance. Multiple experiments prove that the algorithm improves the navigation accuracy and the fault tolerance, ensuring safe and reliable operation of the patrol robot.