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Based On Multi-sensor And Trajectory Tracking Of Mobile Robot Localization Technology Research

Posted on:2014-02-20Degree:MasterType:Thesis
Country:ChinaCandidate:B ZhaoFull Text:PDF
GTID:2248330395983436Subject:Mechanical and electrical engineering
Abstract/Summary:PDF Full Text Request
Mobile robot research is a very important direction of robotics.The mobile robot research involves many aspects and it’s the thing integrated of machinery, electronics, information and so on.Gyroscope, electronic compass, image sensors, radar are all used in the mobile robot localization field. The mobile robot trajectory tracking is also a hot spot of the research and it is related to kinematics, intelligent control, information processing problem.First, we completed the whole system structural design, mechanical structural design, control processing, software implementation and hardware system design and build. Then, we begin to analyze the geometric structure of the mobile robot modeling to study the motion model and dynamics model to analyze the speed control method, locate the required parame-ters. Followed, we study multi-sensor data acquisition and integration. Each sensor for signal processing to improve the accuracy and reduce the sensor’s own error. Based on this, angle used to be turn into information fusion to improve the accuracy of positioning. Next, we do the research of mobile robot trajectory tracking based on the path planning. We also analyze method of fuzzy logic to control the entire system, and let it come true using the micropro-cessor.Studies have shown that the multi-sensor fusion had a high precision and reliable per-formance in a mobile robot positioning. Fuzzy control is good for the mobile robot trajectory tracking.
Keywords/Search Tags:mobile robot, gyroscope, data fusion, fuzzy control, trajectory tracking
PDF Full Text Request
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