A MOTION CONTROL METHOD OF FOUR-WHEEL DRIVE OMNI-DIRECTIONAL MOBILE ROBOTS BASED ON MULTI POINTS PREVIEW CONTROL

Abstract

Aiming at the problem that the traditional control methods can’t satisfactorily complete the trajectory tracking task, so a multi point preview control method based on automobile driving is designed for the motion control of four-wheel drive omni-directional mobile robot. Lateral position error and curvature of each preview point are calculated based on the robot’s lateral position error model. Meanwhile, by considering the current position error and preview point’s position error, a fuzzy controller is designed. The fuzzy controller adjusts the lateral velocity and longitudinal velocity according to the preview information of the different path conditions, so as to realize the expected trajectory tracking. Experiment results show that the tracking errors of different paths are obviously reduced, and the tracking precision is greatly improved , which means the preview control method presented in this paper is effective. It can realize fast track even when the tracking path varies a lot.