MENG Jing1,2, GAO Xiaoding1, CHEN Gang2

 

(1. Institute of Electrical and Mechanical Engineering, Xi′an Polytechnic University, Xi′an 710000, China;

 

2. Institute of Electrical and Mechanical, Zhejiang Textile Vocational Technology College, Ningbo 315200, China)

 

 

Abstract: Aiming at the trajectory tracking problem of wheeled mobile robot in discontinuous sections, the establishment of the mathematical model and road model of the mobile robot, the acquisition of the trajectory information and the design of the controller was studied. Firstly the kinematics equation of the mobile robot was analyzed and the camera was calibrated, a straight line trajectory tracking model of the mobile robot was established, then using image processing to deal with discontinuous sections which was based on binarization method, the image information of the discontinuous sections and the reliability of the mobile robot′s movement in the process of trajectory tracking was achieved. And then the gradually stable trajectory tracking controller was designed that was based on Lyapunov function, the decided path in continuous and discontinuous sections can be tracked by the mobile robot. Finally, Matlab was used to simulate, the results shows that the tracking errors of the mobile robot is converged to zero quickly under the designed controller and the algorithm, and the effect of the trajectory tracking is good, which can be used for the trajectory tracking control of the mobile robot in discontinuous sections.

 

Key words: wheeled mobile robot; trajectory tracking; Lyapunov function; discontinuous section