非完整约束下的轮式移动机器人轨迹跟踪  

Trajectory tracking of a nonholonomic wheeled mobile robot

作　　者：刘磊[1] 向平 王永骥 俞辉 

机构地区：[1]华中科技大学控制科学与工程系

出　　处：《清华大学学报（自然科学版）》2007年第z2期1884-1889,共6页Journal of Tsinghua University(Science and Technology)

基　　金：国家自然科学基金资助项目(60274020);国家自然科学基金国际合作项目(60340420431);华中科技大学国防科技基金资助课题

摘　　要：研究轮式移动机器人运动控制中非完整约束系统的轨迹跟踪性能。从非完整约束定义入手,通过非完整约束系统的判据和特点,推导几类典型的轮式移动机器人的运动学模型。通过一类控制Lyapunov函数来构造系统的控制器。利用Matlab/Simulink建立了非完整约束下的二轮和三轮机器人运动学模型,设计控制器实现机器人对圆形轨迹的跟踪。仿真结果显示:该控制器轨迹跟踪性能为稳态。通过轨迹曲线得到2种机器人的运动特点和相互关系。A model was developed to describe a nonholonomic system trajectory of a wheeled mobile robot.Kinematic models were developed for several typical robots from the definition of the nonholonomic constraint and the system characteristics.The system controller design was based on a control Lyapunov function(CLF).The kinematics models for two and three wheel robots with the nonholonomic constraint were developed in Matlab/Simulink.Simulations of a robot controller designed to track a circular path show that the trajectory tracking controller is very steady.The characteristics of both kinds of robots are represented by trajectory path curves.

关 键 词：轮式移动机器人 运动学模型 非完整约束 轨迹跟踪 控制LYAPUNOV函数 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]