Wheeled Robot Motion Control And Path Planning

The wheeled robot has good stability,high efficiency and strong load capacity.It is getting more and more attention in the rapid development of robot technology.The omnidirectional wheel robot can be unconstrained in the plane,and it is also a wheeled robot.Research hotspots have important practical application value.In this paper,a general hardware control platform is designed with omnidirectional wheel robot as the research object.The corresponding motion control scheme is designed.Based on this platform,the research on the related problems of wheeled robot path planning is carried out.Because the stability of robot motion control determines whether the robot can adapt to the complex working environment,and path planning directly affects its work efficiency,the main research contents of this paper are as follows:In the aspect of global path planning,an improved ant colony algorithm is proposed for the shortcomings of classical ant colony algorithm in slow environment and slow to fall into local optimum.Firstly,the artificial potential field method is used to determine the initial pheromone to improve the initial convergence speed of the algorithm.Secondly,by intelligently updating the pheromone,the pheromone concentration on the better path is increased by a higher proportion than the worse path.Finally,the information heuristic factor ? and It is expected that the heuristic factor ? is dynamically adjusted to make the values of ? and ? more reasonable.The simulation results show that the improved algorithm has faster convergence speed and better global search performance.In the aspect of local path planning and control research,for the dynamic change of environmental information,the TEB(Timed Elastic Band)algorithm is firstly used to adjust the robot's forward path in real time based on the sensor information on the basis of the global path.Considering the working requirements of wheeled robots,the acceleration rate of change constraint is added in this paper,and the proportion of obstacle constraints is increased.For the planned path,in order to increase the stability and accuracy of the robot motion,the incomplete differential PID algorithm is used for motion control to suppress high frequency interference and reduce system oscillation.Finally,the analysis is carried out by using MATLAB simulation and physical motion.The experimental results show that the TEB algorithm can make the robot avoid the unknown obstacles accurately and has excellent local path planning ability.At the same time,the incomplete differential PID control algorithm can increase the stability of the robot motion and make the robot reach the target speed faster.The design and research of the robot system of this subject focuses on practical engineering applications.By integrating the complex robot system into a more complete wheeled robot control platform,it will lay a certain foundation for future research.