The Dynamic Performance And Motion Control Of The Mobile Robot

With the rapid development of intelligent mobile robot technology,the wheeled mobile robot has been used in the research,rescue,fighting,intelligent transportation and other fields,wheeled mobile robot motion is mostly carried out in outdoor natural environment. Because of the complexity of the external environment,and it is very difficult to complete a certain task independently.Therefore, it is great practical significance to improve the adaptive ability of the wheeled mobile robot in different circumstances.Based on mechanics of soils of the Bekker pressure model and Janosi shear model,this paper expounds the soil mechanics model of the pressure and shear. Firstly established for wheeled mobile robot kinematics modeling and wheel-soil interaction mechanics model, derived the lateral forces on the tire, the longitudinal force and slip rate,and based on the mechanics model of rigid wheel running on the plastic soil,combining the forces of the robot to analysis the kinematic and dynamic,and established the dynamic model of the mobile robot.The wheeled mobile robot model is established by Recurdyn simulation software and 3D solid software,kinematic and dynamic simulation of the mobile robot in different road conditions.In the simulation process,the tire forces and moments formed when the robot movement,steering and braking, comparative analysis the kinematics and dynamics simulation results and characteristics of wheeled mobile robot in various road conditions.Mobile robot system is a nonlinear, time-variant, multivariable, strong coupling of nonholonomicystem,in view of the wheeled mobile robot trajectory tracking control,based on the kinematics and dynamics model, a sliding mode control method is established and select the appropriate switching function and the convergence rate,realized the trajectory tracking control of the mobile robot,the Matlab simulation results verify the accuracy and feasibility,through building mobile robot test platform to analysis the influence of the robot running in different road conditions.