Trajectory tracking control of wheeled mobile robot considering wheel ground interaction force

Abstract

The growing trend of robotics and automation beyond the boundary of industrial applications and service has resulted in the emerging of mobile robotics study. A mobile robot is a highly complex Mechatronic system. This research work presents a model for robot motion control with nonholonomic, kinematic and dynamic constraints. Simplified kinematic equations of a differentially driven robot are designed to follow the path. This robot is driven at high speed and on a smooth path by this proposed kinematic model, which is based on a simple geometric approach for getting the desired trajectory. This thesis focuses on developing the software required for autonomous control, while building upon appropriate mechanical designs and trajectory tracking technologies to produce an optimal path for robot fast navigation. The aim of this thesis is to develop a controller that guides a nonholonomic wheeled robot according to a given trajectory in a specified space. The proposed controller can achieve perfect velocity tracking while considering not only a kinematic model but also a dynamic model of the mobile robot. The control architecture is developed based on fuzzy logic and genetic algorithm to conduct the optimum design of robot trajectory tracking for the given initial and target states with highest allowable velocity profile. Uncertainties in the parameters of dynamic model have been compensated using adaptive control. Every module of the system is coupled by a Simmechanics block which contains the mathematical models and physic properties. The main objective here is to establish a general platform to simulate mobile robot system for controller design. The performance of the controller is determined by performing extensive simulation using MATLAB- SIMULINK as the platform to provide high stability and traction performance during robot motion on the regular terrain surface. newline newline newline