Research on path tracking technology of mobile robot

YingNi Duan

doi:10.1117/12.2652930

10 November 2022 Research on path tracking technology of mobile robot

YingNi Duan

Proceedings Volume 12331, International Conference on Mechanisms and Robotics (ICMAR 2022); 123311L (2022) https://doi.org/10.1117/12.2652930
Event: International Conference on Mechanisms and Robotics (ICMAR 2022), 2022, Zhuhai, China

Abstract

In the application practice of robot autonomous navigation, the path tracking algorithm as the control layer is the key technology to realize the intelligence and practicability of robot, which directly determines the bionic level of robot self perception and autonomous action. Path tracking can be regarded as a control problem. In this paper, the control problem of mobile robot path tracking is studied. Firstly, the multi degree of freedom kinematics model of robot mobile mechanism is established, the path tracking control system is decoupled into speed following closed-loop control and steering angle control subsystems, and a path tracking controller based on optimization theory is proposed, The control algorithms are designed for the tasks of robot tracking specific target points and tracking arbitrary path curves, and the tracking performance of the controller based on the optimization theory is verified by simulation analysis. The simulation results show that the control algorithm has the advantages of simple algorithm, good real-time performance and strong autonomous tracking and navigation ability in robot path tracking.

Citation Download Citation

YingNi Duan "Research on path tracking technology of mobile robot", Proc. SPIE 12331, International Conference on Mechanisms and Robotics (ICMAR 2022), 123311L (10 November 2022); https://doi.org/10.1117/12.2652930

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