Research On Trajectory Tracking And Formation Control Of Wheedled Mobile Robot

With the arrival of the era of artificial intelligence,wheeled mobile robot(WMR)in today's production and life is more and more widely applied.The research is one of the important work of the scholars,and the trajectory tracking control of mobile robot and multi robot formation control robot is are most basic and important problem.This paper start from the WMR model,analyzes the nonholonomic and controllability of the WMR system.Then we study the trajectory tracking control method and the formation of global information centralized and global information distributed formation.The main research work of this paper can be divided into the following four parts:First,this paper introduces the mathematical basis of the theory of nonlinear systems,and establishes the kinematic and dynamic model of WMR,and analyzes the characteristics of the system.Three commonly methods of formation control are introduced in this paper.Second,the single robot trajectory tracking is the basis task of multi robot control.According to the kinematics model and the tracking problem,we do different processing of the model:1.Backstepping method,it transform the error differential model into the cascade system when the control law was designed gradually recursively in subsystem,and finally get the control law of the system.2.PD control Based on dynamic feedback linear,which the original model after the dynamic feedback linearization,and then use the PID control design of the design of linear systems.3.LQ method based on internal model expansion,according to the tracking,used the internal model principle and optimal design of LQ controller.Three kinds of methods show advantages and disadvantages by experiment.Third,according to the global information system situation,we put forward the centralized formation and established the Leader-Follower model based on 7)- formation method and design formation controller by input and output linearization method.according to different formation trajectory analysis and experiments show well in the linear and circular trajectory,and multi Follower the formation is feasible.Fourth,in most situation,there is no formation of global information,we present a distributed formation control,robot kinematics model based on dynamic feedback linearization technique to get the linearization model,get double integral type of linearized system,and to design control formation controller by the distributed formation and small gain design method of Follower.In order to achieve the desired formation control,the experiments proved that the effect is good.