| 英文摘要 | Since the special mechanical structure of the tracked mobile robot, it has a large contact surface with the earth. Thus, it has a superior ability of climbing and off-road and can work in harsh environments or in the field, which is difficult to achieve for other mobile robots. Thanks to its advantages, it is be widely used in the military, industry, medical assistance and so on. With the fast development of artificial intelligence, the intelligent degree of mobile robot has received more and more attention and many intelligent technologies has been introduce in the field of route planning, trajectory tracking, visual navigation. Therefore, conducting research on the intelligent tracked mobile robot has great theoretical and practical signification. We have established a control system for a self-developed tracked mobile robot and developed the unstructured road detection and path tracking algorithms. These works will be introduced in this paper in three parts: Firstly, we have designed and built a platform based on ARM and FPGA. Appropriate bottom-driven, controller and sensors have been selected and the software system, including the primary controller and motion controller, had been designed. We have also analyzed the motion control principle of tracked mobile robot and developed the speed closed-loop system. What’s more, the algorithms of basic motion, such as turning and straight walking, have also been accomplished. Secondly, we have researched the algorithm of unstructured road detection. Texture characteristics were adopted to detect the vanishing point of unstructured road, which is extracted by Gabor filters. Then, we divided the road based on the OCR and color feature. To ensure the detection precision and reduce the time complexity, we employed the strategy of down-sampling for image and optimized the method of local soft voting. Experimental results have shown the feasibility and effectiveness of our algorithm. At last, we have studied the algorithm of path tracking. A novel fuzzy control algorithm is proposed, which is direct control the two-wheeler speed by the distance and course deviation between the current position and desired position. We have implemented the fuzzy controller for path tracking. Moreover, we have also designed a visual navigation system for our tracked mobile robot and testified our algorithm of unstructured road detection and path tracking. |
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