Mobile Robot Trajectory Tracking And Obstacle Avoidance Under Nonholonomic Constraints

With the construction of Industry 4.0,people's demand for intelligent robots has gradually increased.Mobile robots,as a member of the large family of robots,are also typical representatives of non-holonomic constrained systems.They are gradually promoted by people with their superior adaptability.Application,and the primary criterion for judging a robot's quality is its motion control and navigation.Therefore,these two points are the basis for all other actions of the mobile robot,and it is worthy of further study.Due to the complexity of the actual environment and the various disturbances from the outside world and the internal environment of the robot,it brings challenges to the motion control and navigation of the robot.Therefore,it is of great significance to deeply study the motion control and obstacle avoidance of mobile robots.In this essay,we do the following work on the trajectory tracking and obstacle avoidance of mobile robots:1.Introduce the mathematical model of the mobile non-holonomic robot,introduce the kinematics model of the non-holonomic mobile machine,provide the model for the following obstacle avoidance controller design,and then introduce the deviation control equation model by the kinematic model,which is the following trajectory tracking control.The model design simulation experiment provides the model.2.Based on the kinematics deviation control equation of non-holonomic mobile robots,firstly,the description of such control problems is given.Then,the Lyapunov design method is used to design the trajectory tracking controller.Finally,the designed control is proved according to the Lyapunov stability theory.The device is stable globally.Matlab is used to build the simulation platform.By establishing different path functions,the performance of the designed trajectory tracking controller is verified,and the experimental results are explained.3.Design a mobile robot control platform.Firstly,the overall framework of the platform is introduced.Then the various control modules used in the platform are introduced and the advantages of each module are analyzed.Finally,the software part of the control platform is introduced.