The Research On Technology Of Mobile Robot's Autonomous Movement In Outdoor Environment

Outdoor Mobile Robot is a comprehensive discipline which involved in many subjects.It has important influence of robot research and also has significant meaning on industry,agriculture,military and other fields.Autonomous motion of a mobile robot in outdoor environment has become the key and hotspot to the research of robot.This paper mainly studied and analyzed on four skid steer autonomous robot motion problems.Considering the wheel slip conditions on the mobile robot kinematics analysis,a dynamics analysis model was made for the robot by driving force and resistance.Using Recurdyn Simulation Software to build a robot simulation model under different road conditions on the robot kinematics and dynamics simulation,obtaining different rates in disparate slip roads at diverse speeds of the robot,what's more,the steering resistance moment is various.Based on the stability control inversion(Back-stepping)sliding mode control theory of the robot the path tracking controller design,Lyapunov stability theory was used to verify the stability of the path controller system.This paper selected some classic motion curves,and utilized the Simulink in MATLAB to test the feasibility and effectiveness of the simulation controller design.Likewise,Using inverse control theory of Lyapunov stability theory Which is based on(Back-stepping)to design motor dynamics tracking control for dynamics model and taking the Simulink in MATLAB to measure the feasibility and effectiveness of the controller.In consideration of partial path planning of the movement stationary of robot,this paper created a map by taking advantage of the grid methods,combined with potential field,the fuzzy control theory,and then picked a symmetric polynomial curve up for robot motion path smoothing to do simulation experiment in MATLAB.