The design of control system and study on control algorithm of laser navigation mobile robot

摘要

In order to improve the controlling precision of the mobile robot, so as to meet the requirement of moving accurately, a new type of motion controller based on EPOS and laser navigation was designed. Kinematics model of mobile robot was build, the experiment of wall following is done by using backstepping. The experiment of trajectory tracking of mobile robot shows the error range y <sub xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">e</sub> of -21mm~+12mm, the heading angle error θ <sub xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">e</sub> of -0.049 rad~+0.032 rad, the error range of x <sub xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">e</sub> is very little. And the experiment result also demonstrates the realtime and precision of the control system; it can fit the requirement of running reliably under different environments.