Research On Mobile Robot Trajectory Tracking Method Based On Risk Constraint

Wheeled mobile robot(WMR)is a kind of robot that has highly autonomous planning ability,self-organization ability and self-adaptation ability,and can run in complex unstructured environment.Since it was published in twentieth Century 80,the mobile robot has obtained the considerable development.Because of the environmental limitation or the risk coefficient of the work itself is high,some of the work itself is often not suitable for human activities.So it needs new means to replace the human work in this condition.Due to various reasons,it is a very good choice to use mobile robot to replace human work in all kinds of complicated conditions.In the past,the application of predictive control for trajectory tracking of mobile robot has been studied by a lot of people.But in the past,the concept of risk constraint has not been introduced in the study of control method of mobile robot trajectory tracking,result in some limitations in practical application.Firstly,according to the four wheel differential drive mobile robot model.And mathematical can be descripted according to the mathematical model that has been obtained,and then a multi pack controlled system was got.A controller that using model predictive control was obtained basing on the controlled system,and simulated in Matlab and LMI toolbox to test the controllability of controller.On this basis,I used two method to design controller.One is putting risk as augmented items into the system,the second is madding the risk linear and putting it into the performance index of predictive control,and then I reach the goal of research on mobile robot trajectory tracking method based on risk constraint.And using MATLAB and LMI toolbox to verify the two method.