Research on Platform and Motion Control System for a Mobile Robot

Abstract

This paper presents a kind of wheeled mobile robot, which adopted the architecture of two wheels differential drive and multilayer stack mechanical structure and used a special embedded computer PC/104 as the kernel of the robot motion control system, and the good openness and expandability of this architecture will avail the further development. The traditional angular speed control of a wheeled mobile robot is achieved indirectly by the respective control of the left and the right wheel's speeds. But the problem that the effect of a wheeled mobile robot's angular speed control is weak arises from the great error of the actual angular speed and the demanded angular speed because of the sliding of the wheels. By the analysis of the motion model of the wheeled mobile robot, it proposes a method of a new two parameters PID motion controller which is based on the parameter distributor without the decoupling of the two motion control parameters (speed and angular speed) to overcome the problem mentioned above. The results of the experimentation of linear, circumferential and sinusoidal trajectory motions show that the controller is feasible and effective