Control methods of mobile robot rough-terrain trajectory tracking

摘要

This paper presents control methods and simulation experiments of wheeled skid-steering mobile robot trajectory tracking on the rough terrain. According to dynamics analysis of the robot, a motion constraint of the robot is put forward. To address the issue of uncertain disturbance factors during the robot running on the rough terrain, a practical fuzzy lateral control law is presented, and the globally asymptotically stable of the control law is proven. At the same time, according to the requirement of the robot motion control, the longitudinal control law and the sensor pan-tilt control law are also proposed. Using virtual prototype technology, the mobile robot and the experimental field are established on the ADAMS and MATLAB co-simulation platform, and the robot trajectory tracking in the simulation environment is performed. The simulation experimental results indicate that the control methods are robust and effective for the mobile robot running on the rough terrain.