Localization And Control Of Mobile Robots Under Internet-of-Things Environment

As an intelligent system of highly autonomous capability, the mobile robot can replace human to perform various kinds of difficult tasks, and it is becoming more and more widely used in modern society. Especially in the age of Internet of things, the combination of the mobile robot technology and the Internet of things technology can realize the complementary advantages of the Internet of things and robots, and new chanllenges and opportunities have been presented for the development and application of the Internet of things and mobile robots. Thesis, the problems of positioning and trajectory tracking control are studied for the mobile robot in the environment of Internet of things. The specific research contents and results are as follows.Firstly, the kinematics and dynamics of the mobile robot are analyzed, and the kinematic model and dynamic model of the mobile robot under ideal conditions and non-ideal conditions are established.Secondly, the positioning technologies and algorithms of the Internet of things are introduced. Based on the wireless location technology of the Internet of things, the positioning system of mobile robot is designed. Meanwhile, the adaptive federated filtering algorithm based on the credibility of sensor measurement data is designed for the data fusion processing of the positioning system, and the accurate positioning of the mobile robot is realized.Then, the trajectory tracking algorithms of mobile robot are studied. Under ideal conditions, the disturbance observer is used to estimate the uncertainty of the system, and the fast terminal sliding mode trajectory tracking controller is designed to realize the finite time tracking of the desired trajectory. And, under the conditions with sliding, the trajectory tracking control law of a mobile robot based on disturbance observer is designed, which eliminates the influence of sliding, and achieves high precision trajectory tracking of the mobile robot.Finally, the hardware system of the mobile robot is designed, with the concrete designing of the controller, sensor system, and the motion control system, and the effectiveness of the mobile robot system is verified by experiments.