Research on the Precise Control of Self-Propelled Mobile Robot Based on Laser Ranging

Abstract

In order to achieve highly accurate motion control and path following for a nondestructive testing self-propelled mobile robot, a laser ranging position feedback method is adopted. The proposed system has the ability of path following in a steady speed and sound gesture. To meet the control requirements, the distance in the vertical dimension of the travel direction is measured and sent to the controller in the form of RS-485. The signal is processed using the most commonly used three loop control method. With the output signal, the driving wheels move and rotate so as to change the moving speed and gesture. Effectiveness and reliability of this method are proved by MATLAB simulation. Overall, the control effect of the system has been improved since the laser ranging finder is applied in this system.