Research On Autonomous Navigation And Control Techniques For Six-wheeled Robot

In recent years,the robot techniques developed rapidly with the modern science and technology advances in machinery manufacturing, control theory, artificial intelligence and autonomous navigation etc. The wheeled robot as one of the most representative product,which has good stability, high load capability, stable mechanical structure, and began to utilize in the field of military and civilian applications. However,the autonomous robot application researches in Military reconnaissance and transport, Tactical mission,Environmental Monitoring need further improvement. And it’s autonomous and control enhancement in these special applications is also the current hot research topics. Based on this,the dissertation designed the six-wheeled robot with autonomous navigation and control in special occasions and laid the foundation for applications.The main work of this study is based on the practical application of the six-wheeled robot, and research on the key techniques of structure designing, signal processing,autonomous navigation and control to complete the six-wheeled robot with autonomous navigation function. The specific work of the dissertation is as following:Firstly, conduct the structure design of the six-wheeled robot. First, design the overall scheme of the six-wheeled robot according to the application occasions and the requirement functions. And then, make the system components selection and the suitability analysis of the designed system. At last, design the mechanical structure and control system of the six-wheeled robot.Secondly, implement design the hardware system of the six-wheeled robot. Combining the powerful data processing and computation advantages of DSP controller designed the control system hardware, and completed the control and autonomous navigation algorithms in the controller of the six-wheeled robot. Then, present the driving circuit and system power source implementation of the six-wheeled robot.Thirdly,conduct the autonomous navigation system design of the six-wheeled robot. At first, introduced the basic principle of inertial navigation and built the autonomous navigation model of the six-wheeled robot. And then, conduct the Allan variance analysis and calibration experiments of the inertial sensors. Next,design the integration algorithm of the inertial sensors and other sensors by Kalman filter. At last, implement the autonomous navigation with the simulation experiment of six-wheeled robot autonomous navigation.Finally, Research the control algorithm of the six-wheeled robot. Provide the PID control algorithm and fuzzy control algorithm and model the six-wheeled robot control system according to the system designing requirements. The fuzzy control could achieve better control effects by the comparison the simulation results of the two proposed control algorithms. Therefore, the researchers choose the fuzzy control as the control strategy of the six-wheeled control, and present the flow chart of the proposed control algorithm in the DSP controller. At last, conduct the simulation experiment and data analysis and conclusion, and provide some improve suggestions on the system.