Research On Automatic Tracking Robot And Design Of Its Evaluation System

With the rapid development of robot technology,the mobile robot,as the representative of various robot technology integration,is developing towards the direction of intelligence and autonomy.As the most widely used type of mobile robot,the motion control technology of the wheeled mobile robot is the core technology in this field,and it has important research significance.On the other hand,facing the rapid development of mobile robot technology,people need a set of evaluation methods to measure the autonomous mobile performance of mobile robots.The formulation of evaluation methods will directly affect the future development direction of mobile robots.Therefore,it is very necessary to study the evaluation method of autonomous mobility ability of mobile robots.In this paper,an automatic following robot is designed,and the control algorithm of the automatic following robot is studied.The evaluation method of robot automatic following task is studied,and the software development of robot automatic following ability testing system is carried out.Based on the automatic following robot and the automatic following ability test system,the trajectory following experiment and automatic following experiment are carried out,and the performance of the robot in the experiment is evaluated.Specific research work and conclusions are as follows:Firstly,the author of this paper design the robot.The requirement of automatic following task is analyzed,and the overall scheme is demonstrated.Refer to the constitution of the automatic driving vehicle,select the carrier,components and sensors.In order to enable the robot to move autonomously,the steering part of the electric sand vehicle carrier is reconstructed by the electric sand vehicle carrier.In order to ensure that the robot can handle complex operation and ensure the fast control of the underlying circuit,the control system of automatic following robot is designed by the idea of upper and lower computer.The upper computer carries out the task of trajectory planning,motion control,and carries a variety of sensors,and the lower computer carries out the circuit control of the hardware.Under the guidance of modular design idea,PC software is written.In this paper,motion control of an autonomous following robot is studied.The kinematic model is established in its local coordinates.In order to track the planed trajectory,the robotcontrol algorithm is studied,and the global stability controller is designed based on Lyapunov stability theory and backstepping technology.In order to verify the correctness of the controller design,the following robot simulation model is established by Simulink,and the trajectory tracking simulation experiment is carried out.In the automatic following task,the trajectory of the following robot is mainly composed of the straight line and the arc,so the trajectory planning in the simulation experiment uses the line trajectory and the circular trajectory.In order to evaluate the performance of the automatic following robot in the automatic following task,this paper studies the automatic following ability evaluation method.In order to make the evaluation method pertinent and close to the application scenario of automatic following tasks,this paper first carries out the evaluation needs analysis of automatic following tasks.According to the assessment needs,this paper gives an evaluation method based on four major aspects: tracking accuracy,rapidity,safety and autonomy.According to the evaluation method,the automatic following ability test system is developed,and the testing system software is written.Finally,to verify the feasibility of the design of the automatic following robot,the effectiveness of the control algorithm and the rationality of the evaluation method.This paper develops an automatic follow-up capability evaluation platform.Based on the automatic following ability assessment platform,the arc trajectory tracking test and automatic following ability test are carried out,and the automatic following ability test system is used to give the quantitative evaluation of the automatic following ability of the robot in this test.