Trajectory Tracking Control of Differential Steering Mobile Robot Based on Fuzzy Logic under Time Constraints

摘要

The differential steering mobile robot realizes steering by controlling the rotation speed of the driving wheels on the left and right sides, that is, enabling the robot to achieve a given speed and angular velocity to complete the trajectory tracking purpose. The goal of this paper is to plan a path in an open environment with known path points, and to pass the trajectory points in an orderly manner within a limited time to achieve the purpose of path tracking. Therefore, this paper proposes a planning combination method, that is, path planning is performed through bezier curves, and local point-to-point trajectory planning is performed through polynomial interpolation, and then fuzzy logic control is used to obtain dynamic speed compensation, hence the trajectory tracking of the entire path is realized in a limited time. Finally, verify the control algorithm and the effectiveness of the controller through carsim simulation platform.