DESIGN AND IMPLEMENTATION OF MOTION CONTROLLER OF TWO-WHEELED MOBILE ROBOT

摘要

After the analysis of the motion model of two-wheeled mobile robot,the design method of a new non-holonomic motion controller is presented in this paper. With the decoupling of the key motion control parameters,i.e. line speed and angular speed,a Speed-Compensated Controller (SCC) is designed,and the effect on control performance caused by the uncertain disturbance and parameter differences of the two wheels is greatly reduced by feedback. A special Digital Signal Processor (DSP) TMS320LF2407A is employed as the kernel of the robot motion controller. The effectiveness of the new design is testified by the experiment.