Design Of Wireless Real-time Feedback Control System And Research On Modeling And Simulation For Mobile Robot

In this thesis, around the mobile robot wireless real-time feedback control system design and modeling and simulation research for the center, ability storm robot AS-U32 and DM-B2x0 autonomous mobile robot is considered in theory and application.Firstly, the paper designed mobile robot AS-U32 wireless real-time feedback control system framework, and built the framework of the system hardware and software platform, and then do PID control experiments on the robot's speed and position on the platform. The platform is a foundation of DM-B2x0 autonomous mobile robot for research. Secondly, aimed at the DM-B2x0 autonomous mobile robot, the thesis established its mathematical model, and firstly established the robot's kinematics model, on which the paper does trajectory tracking simulation experiments. As the kinematics model does not consider kinetic factors, however, on the actual applications, it should be considered, and so the paper also established the kinetic model of the robot, but because the robot's kinetic model is too complex, the paper transform it into the robot's left and right wheel motor model, and establish a linearization model comprehensive consideration of robot's kinetics and motor model, and do beeline and round simulation experiments.As in real applications, a computer is used to control the robots, so it needs to establish a discrete mathematical model of the robot, thereupon, on the finally, the paper transforms the robot's linearization model into a discretization model, and put it into the network environment, and considering the network time delay, establish the robot's discrete model, and then do simulation experiments.