Research On Track Control And Obstacle-avoiding Method Of Differentially Movable Robot

In this paPef, the path-controlling methods and the obstacle-avoidingalgorithms of the mobile robot are designed, and its control system is designedand perfected.The feedback signal is sented by the sensors on the free wheel, because the' following factors are taken ifito account. On one hand, the free wheel tumssmoothly, and its relations to the orientations of the robot car are steady and exact,on the other hand, the free wheel will not slip When it rotates. In the process of thecolltfolling algorithms, the relations betWeen the free wheel and the orielltations ofthe robot car are ciphered out when the robot car walks ollt the straight lines,thearcs and the swerves. In addition, the PID adustOr is designed. The PID adjustOrand the assembled path-tracking are simulated in MATLAB circumstances.In the algorithIns of obstacle-avoiding, the characteristics and the workprinciples of ultrasonic sensor are described in detail, and hardware circuit ispresented. The method based on grids is adopted to achieve the obstacle-avoidingcontrol, the aPplication of the obstacle-avoiding algorithIns is introducedconcretely Besides, the result of this algorithms is simulated.In addition, the hardware and softWare of the control system and the sensorssystem are described systematically'~...