Integrated motion control of wheeled mobile robots.

摘要

Wheeled mobile robots come in a number of different mechanical structures. Typical robots have two co-axial wheels that are independently actuated to achieve forward/backward and rotational motion. Some robots have a steerable front wheel(s) with fixed rear wheels, much the same as an automobile or a bicycle. The synchronous-drive type of mobile robots has wheels that can steer and rotate together so that the wheels are parallel all the time. This thesis describes a type of mobile robot---differential drive robot---that has two drivable wheels mounted on a common axis controlled by separate motors.;The thesis focuses on accurate motion control in mobile robots and the case of a differential drive mobile robot is carefully studied. The purpose of this thesis is to demonstrate how the overall motion of the differential drive can be improved. (Abstract shortened by UMI.);One of the benefits of differential-drive robots is the simplicity of its mechanical structure among the various types of locomotive mechanisms. It is easier to control its motion; greater manoeuvrability is possible. A robot of this type allows for pure rotation, Zero Turning Radius feature, which makes it capable of turning around the center of the robot body. It is gaining popularity commercially, for example, in the U.S. lawn-mowing market. It can offer exceptional manoeuvrability and can make shaper turns with greater ease than those without that feature.