Control method and motion path simulation of a mobile robot

摘要

In this paper, a novel mobile robot with single degree of freedom (DOF) is presented, which could realize two dimensional movements under the unsteady condition in the motion process. Along with the emergence of the new type of mobile robot, there comes the requirement of new controlling method which could deal with uncertainty in the random motion process. The mathematical model of the new mobile robot is set up. Once the mobile robot changes the direction of movement under the unsteady condition, the variable of new direction will be chosen from one of two potential directions using the Bernoulli distribution. Then, the motion characteristic factors of the robot and the mobile path are analyzed. Simulation results show that the two dimensional movements from one given start point to the destination can be realized by the controlling method with satisfying and reliable performance.