Research On Design And Control Of A Mobile Robot With Variable Chassis

At present,with the rapid development of the smart warehousing industry,AGV are getting more and more attention.In view of the fact that the current mobile robot structure is relatively simple,a mobile robot with a variable chassis was designed in the paper.The variable structure robot can realize the goal of all-round motion and the transformation of the chassis structure.This structural design of robot allows the robot to adapt to more complex and narrow working environments.Therefore,the research in the paper has high practical value and academic significance.First of all,according to the requirements,the overall design of the mechanical structure is carried out.Then,the transmission mode and component selection are clarified.the virtual prototype is performed based on SolidWorks to obtain a mobile robot with a variable chassis.The kinematics modeling and analysis are based on the mechanical structure,and the correctness of the kinematics model is verified by computer simulation.Secondly,the trajectory tracking control of the mobile robot is transformed into an error stabilization problem.A sliding mode controller to achieve tracking control of the ideal trajectory is designed.The sliding mode control algorithm is simulated and analyzed based on the Simulink module of Matlab.By comparing the simulation curves,the influence of control parameters on the tracking effect is obtained,and the effectiveness of the sliding mode controller is verified.In addition,the research on the positioning of mobile robots in indoor environment is carried out.Based on the kinematics model of mobile robot,the discretized kinematics model is obtained.Proper lay out of multiple sensors on the robot and create discrete models of individual sensors.Multi-sensor information fusion processing based on extended Kalman filter algorithm.Then the simulation of the positioning algorithm is carried out based on Matlab,and the effectiveness of the extended Kalman filter in improving the positioning accuracy is verified.Finally,a physical prototype is built in the paper.The measurement and control system of the mobile robot is designed,and the information acquisition system of the host computer is built.Based on Petri net,the control program of the mobile robot is analyzed,which lays a theoretical foundation for further control research work.