The Design And Path Tracking Control Of The Mobile Robot On The Base Of Dual Microcontroller

The mobile robot have very extensive applications in many domains,for example,mine sweeping,military scout,nucleus contamination defending such as some dangerous conditions or materiel conveying in automation production.The essential of these applications mostly belongs to the problem of path following control for the mobile robot.So it is very useful to study the path tracking control of mobile robot.In this thesis,the problem of path tracking control for mobile robot was studied,the main contents are as follows:(1)The master-slave control system of mobile robot is designed by two 32-bit microcontrollers.The main processor acquisition and processing path and environment information,the motion of the robot is controlled from another controller.Two controllers communicate in real time.A path detection sensor and an obstacle detection sensor are respectively provided in front of the mobile robot to collect the road information,the hardware and software of the mobile robot are designed and debugged.(2)Using mobile robot real-time traffic information to complete the detection of road centerline and the obstacle ahead.Firstly,the path detection sensor data collected for binarization processing and extraction of the road black line.The deviation of the longitudinal axis of the mobile robot from the center line of the road is calculated to control the movement of the mobile robot along the road center.And then according to the distance sensor measured the distance between the obstacle and the mobile robot,when the detected vehicle distance reaches the critical safety distance,control the mobile robot slows down the vehicle speed and avoid obstacles.(3)According to the kinematic model of the mobile robot,design the path following strategy for the mobile robot,angular velocity fuzzy controller and speed incremental PID controller are designed respectively.Angular speed and speed are simultaneously controlled to implement path following of wheeled mobile robots.By designing,the path following of mobile robot is realized.(4)The obstacle avoidance and path tracking experiments of the mobile robot are performed on the miniature transportation platform built in the lab.The mobile robot has strong stability in the process of driving,robot without chattering phenomenon,no collision occurred.The mobile robot can quickly track the path and avoid obstacle accurately,and achieves the expected results.