Control Law Design of Mobile Robot Trajectory Tracking and Development of Simulation Platform

摘要

Autonomous steering control of wheeled skid-steer mobile robot is focused on. According to dynamic analysis on the robot motion, kinematic constrains of the robot motion is put forward. As uncertain control factors exist during the robot running state, a novel fuzzy control algorithm is proposed. Based on ATRV2 mobile robot and its running environment information, using random number sequence, power spectra density function and virtual prototype technology, ADAMS and MATLAB co-simulation platform is built up, and the robot simulation running experiment is performed in the environment. At the same time, the simulation results show that the fuzzy control algorithm is robust and effective for the mobile robot control.