Research on Closed loop Control of Steering Angle for Track Tracking of Intelligent Patrol Wheeled Robot

This paper uses the UWB positioning system to compare and verify the front wheel steering trajectory tracking controller and the four-wheel steering trajectory tracking controller of the intelligent patrol wheel robot.For the intelligent patrol wheel robot with front wheel and four-wheel steering, two speeds were used for verification, and the closed-loop test was finally carried out in the campus test field.The results show that the experimental results of the designed front wheel and four-wheel steering controllers are close to the simulation results, which indirectly verifies the accuracy of the dynamic model of the intelligent patrol wheeled robot;At the same time, the track tracking method of four-wheel steering based on adaptive model predictive control has higher track tracking accuracy than using front wheel steering only when the longitudinal speed changes.Therefore, the two controllers designed in this topic can meet the requirements of the closed-loop control of the intelligent patrol wheeled robot using trajectory tracking steering angle in different scenes.