Research On Trajectory Tracking Of Mobile Robots

With the development of science and the improvement of productivity, the robot with fixed position can not meet the production needs of people, at this time, the mobile robot technology has received the unprecedented attention. Mobile robots are widely used in space exploration, mine risk, household cleaning and other fields. Motion control is the premise of the mobile robot to complete the tasks, and the trajectory tracking is the most basic and practical problem in the motion control of the mobile robot. Therefore, the trajectory tracking has become a hot spot in the research field of mobile robots.The traveler II mobile robot was researched as the experimental platform, in recent years,domestic and international research on the mobile robot trajectory tracking control algorithms were classified and summarized, and the difficulties in mobile robot trajectory tracking control were analyzed. In view of the mobile robot in the process of trajectory tracking control of robot system of the unknown parameter uncertainty and external disturbance. In this paper,based on the sliding mode control, and the control method is improved, through the improvement of the sliding mode control for trajectory tracking control of mobile robot.First, introduce the subject of the research object traveler II mobile robot, and discussed the problem of motion control of mobile robot, then constructs the mathematical model of the mobile robot.And then, introduce the backward method control design principle; based on this idea and according to the kinematics model of the mobile robot design classic auxiliary speed controller;in the designed trajectory tracking controller, through the MATLAB simulation, let mobile robot to circle and curve trajectory tracking control. The simulation results show that under the effect of the control law, the mobile robot can quickly and accurately follow the trajectory tracking, which shows the correctness of the design of the controller.At last, this paper introduces the basic principle of fuzzy control algorithm and adaptive sliding mode control; combined with the auxiliary speed controller designed by the third chapter, and in view of the mobile robot trajectory control system exist in the process of the unknown parameter uncertainty and external disturbance, and according to the dynamic model of mobile robot, joined the sliding mode control algorithm; by improving ordinary slidingmode control algorithm, the adaptive fuzzy control are introduced to the online real-time adjustment of sliding mode gain value, to eliminate the sliding mode control chattering problem caused by outside interference; by the general sliding mode control algorithm and the improved control algorithm researched in this paper, through MATLAB simulation,respectively for mobile robot tracking control of the circle and curve trajectory. By comparing the results of the simulation analysis, the improved control algorithm not only makes mobile robot realized the fast and accurate tracking of the two trajectories, and interference rejection has obviously been improved than normal sliding mode, so as to verify the effectiveness and superiority of the improved control algorithm.