Dissertation > Excellent graduate degree dissertation topics show

Mobile Robot Navigation path planning and motion control technology research

Author: WangChuan
Tutor: WuHuaiYu
School: Wuhan University of Science and Technology
Course: Control Theory and Control Engineering
Keywords: Mobile Robots Navigation Path planning Tracking Path tracking
CLC: TP242
Type: Master's thesis
Year: 2009
Downloads: 305
Quote: 2
Read: Download Dissertation

Abstract


Path planning and motion control are autonomous wheeled mobile robots is an important research direction is to achieve autonomous navigation robot to complete complex mission-critical intelligence, epitomizes the robot perception and intelligence. In this paper, the model grid map of the environment, the mobile robot path planning PC controller performs a short cycle of this feature, based on the theory of heuristic search algorithm design search path planning controller. While for nonholonomic wheeled mobile robot kinematics model design trajectory tracking controller and path tracking controller, thus completing the autonomous mobile robot navigation target. In this paper are as follows: First, the introduction of the mobile robot navigation technology development. And describes the study of mobile robot navigation key technologies, including path planning and motion control. And these two key technologies in mobile robot navigation application scope and application of the key issues to be solved. Secondly, elaborated heuristic search field of artificial intelligence theory, including heuristic information and valuation functions and search algorithms admissibility. Taking full account of the real-time search for the optimal demand and valuation function based on the dead zone map search strategy was designed based on A-Star algorithm path planning controller. The controller is able to occupy in the global grid map to efficiently find the optimal path. Again, a detailed analysis of nonholonomic wheeled mobile robot kinematics model. For walking track with a time argument, by constructing a simple virtual feedback variable, combining Lyapunov direct method is designed based on Backstepping time-varying feedback trajectory tracking controller. Composed of discrete path points for walking paths, using Lyapunov direct method was designed based on the principle point of stabilization path tracking controller. And through design simulation experiments to validate the controller. Finally, the introduction of the laboratory J-Pot wheeled mobile robot system architecture. Through the path planning and path tracking controller controller algorithm transplant to design autonomous mobile robot navigation experiments. The use of experimental data collected detailed analysis of the implementation of the controller performance while using reasonable proof of the design ideas and simplification strategy not only enhances the operability controller algorithm transplant, and can allow the controller to run more stable.

Related Dissertations

  1. High Dynamic Carrier Tracking Algorithm of Software GNSS Receiver,P228.4
  2. Research and Realization on Synchronization Technology of High Sensitivity GNSS Software Receiver,P228.4
  3. Research on Gyro Stabilized and Tracking Platform,V241.5
  4. Algorithm Research on SINS/GPS Integrated Navigation Syste,V249.328
  5. Research of Image Guided Technology for Cable Tunnel Patrol Vehicle,U469.6
  6. The Maneuvering Target Tracking Research Based on VRPF,TN957.52
  7. Research of Electromagnetic Tracking Experimental System for Medical Application,TN966
  8. Research on Multi-Sensor Embattling and Continious Tracking Technique Applying for Anti-Stealth and Anti-Interference,TN953
  9. Research on Intelligent Learning-Based Multi-Sensor Target Recognition and Tracking System,TP391.41
  10. Research on Extraction and Tracking of People’s Opinion,TP391.1
  11. Research on Visual Measurement for Spacecraft Rendezvous and Approach,TP391.41
  12. Research on Navigation System Related Technology for Moving Objects under Dynamic Environment,TP301.6
  13. Logistics Management System Supporting Product and Material Tracing and Tracking,TP311.52
  14. The Research of Moving Object Tracking System Based on Embeded Image Process Unit,TP391.41
  15. Research on Visual Detection and Tracking of Mobile Robots,TP242.62
  16. Improvement of Ant Colony Algorithmand Its Application in Robot Path Planning,TP242
  17. Large the Hongshan iron ore mine personnel tracking positioning system optimization study,TN929.5
  18. The Grid-Connected Wind-solar Hybrid Generation System and Maximum Power Point Tracking,TM61
  19. Research on Hand Tracking and Application Platform for Hand Gesture Recognition,TP391.4
  20. Robust Tracking Control for Nonlinear Systems,O231
  21. Mobile WSN data collection based on the virtual cluster head Strategy,TP212.9

CLC: > Industrial Technology > Automation technology,computer technology > Automation technology and equipment > Robotics > Robot
© 2012 www.DissertationTopic.Net  Mobile