Developing an autonomous mobile robot and a study of navigation towards nonholonomic problems

摘要

In this paper, we present the first stage of developing mobile robot for use in a study of mobile robot navigation and its stability. Three basic navigation problems for Nonholonomic mobile robot are tracking a reference trajectory, path following and desire posture stabilization. In this study, we will focus on the trajectory tracking which means tracking reference trajectories predefined or given by path planners. The kinematics controller is usually applied to control the robot position and motion path. It is assumed that masses as well as inertias of the robot and wheels are negligible. Therefore the stability and robustness of the wheeled mobile robot cannot be analyzed. Furthermore, in many research and developments of mobile robot in trajectory tracking stability, one of the problems faced by the researches was sudden increase in motor speed (also known as speed jump or velocity jump) during the first few moments of motor’s rotation which results in the tracking error occurred during the trajectory. Above drawbacks can be overcome by including a dynamic modeling in the motion controller.