Trajectory Control Of Robot Car Designed Study

In this paper, the path-controlling methods and the obstacle-avoiding algorithms of the mobile robot are designed, and its control system is designed and perfected. The feedback signal is sent by the sensors on the controlled wheel, because the following factors are taken into account. On one hand, the controlled wheel turns smoothly, and its relations to the orientations of the robot car are steady and exact, on the other hand, the controlled wheel will not slip when it rotates. In the process of the controlling algorithms, the relations between the controlled wheel and the orientations of the robot car are ciphered out when the robot car walks out the straight lines, the arcs and the swerves. In addition, the fuzzy controller is designed. The fuzzy controller and the assembled path-tracking are simulated in MATLAB circumstances.In the algorithms of obstacle-avoiding, the characteristics and the work principles of ultrasonic sensor are described in detail, and hardware circuit is presented. The method based on fuzzy controller is adopted to achieve the obstacle-avoiding control, the application of the obstacle-avoiding algorithms is introduced concretely. Besides, the result of this algorithms is simulated. In addition, the hardware and software of the control system and the sensors system are described systematically.