Research On Structural Design And Motion Control Technique For Mobile Robot

Both robot's structural design and motion control are very important because these are the base of deep research on the theories and technologies of mobile robot.In this thesis, the problems of structural designing and motion control for mobile robot are discussed.The detailed contents are as follows:Firstly, the process of designing a robot with three suspending devices and six-wheel is described. According to the structural character of the robot, Kinematics analysis of the robot is developed in this section.Secondly, the motion control system and motion control strategy for the robot are developed. The control system is composed of a IPC(Industry Personal Computer), a ADT850 motion control card and some sensors. The modularization and multi-thread of Windows programming means are applied in the control software system.Finally, path tracking and obstacle avoidance are two important behaviours that must be considered in the process of developing robot. Based on the control theory of sate-feedback, a path tracking algorithm is studied and evaluated in this project. As for the obstacle avoidance, a improved and real-time obstacle avoidance control algorithm is implemented, and evaluated on the robot.