中国科学院自动化研究所机构知识库

With the continuous development of modern surveying and mapping technology, robotics has been gradually adopted to achieve the autonomous digital measurements. In this paper, a mobile robot platform is designed and controlled to travel inside the Adit environment to collect data for 3D reconstruction and measurement. In traditional control applications, PID-based methods(PID) are widely used for the motion servo control and present good performance in most cases. However, for some nonlinear systems, especially for the complicated applications in Adit environment, traditional PID-based method cannot get desired results. Meanwhile PID controller with fractional order(FPID) can have better control effect than traditional integer order PID controllers and is addressed in the application for the mobile robot platform inside the Adit. In this paper, a mobile robot platform is designed and the servo control system of the mobile robot platform is designed and analyzed. Meanwhile, a motion controller based on fractional order PID method is designed. With the following simulations, performance of the presented method is compared with that of traditional integer order PID method which shows that the fractional order PID controller is easy to design and has the ability of fast response and robust.