Research On Object Tracking And Motion Control Of Mobile Robot

Intelligent mobile robot is becoming the important part in people’s lives,including target tracking technology gives mobile robot the "new thinking", it’s multi-disciplinary and a hot issue in today’s mobile robots research. This paper based on the research of service mobile robot and it demand a mobile robot with vision technology, so target tracking technology is particularly important in the development of the service mobile robot.This paper studies the target tracking of mobile robot and motion control technology. In the first part, it’s introduces the theory of target tracking and a novel object tracking algorithm based on variable scale global search(Global Variable Scale Search Algorithm, GVSSA) is proposed in this paper. when the moving target of severe occluded is lost,global search strategy is used to reduce the search window scale, gradually approaching the tracking target to achieve the target accurate tracking.Compared with other target tracking algorithm, GVSSA improves the moving target tracking accuracy, especially for the moving target of moved and severe occlusion,GVSSA has more obvious advantages to obtain a more ideal effect in moving target tracking. In the second part, this paper established a kinematics model of two-wheel differential drive mobile robot which is derived trajectory equation of mobile robot and build a wheeled mobile robot with control system, sensing system and mobile body. Then, the proposed feedback algorithm based on incremental cascading PID(CPID), this algorithm is applied into the mobile robot motion control system that use a closed-loop feedback to correct the trajectory of mobile robot. CPID based on the feedback algorithm of traditional PID, it’s through a cascade feedback, reducing the coupling error between the adjacent motor, improved synchronization and stability of the system. Finally, the design of the software control system for mobile robots to achieve the basic motion control of the robot.In order to prove the effectiveness ofCPID, experiments upon CPID proved that the introduction the CPID in the control system of mobile robot, effectively improving the moving control accuracy of the mobile robot.