轮式移动机器人轨迹跟踪的最优控制  

Optimal Control of Wheeled Mobile Robot Trajectory Tracking

作　　者：王仲民[1] 岳宏[1] 李充宁[2] 刘继岩[2] 

机构地区：[1]河北工业大学机器人及自动化研究所,天津300130 [2]天津工程师范学院机械工程系,天津300222

出　　处：《机械科学与技术》2006年第1期21-23,共3页Mechanical Science and Technology for Aerospace Engineering

基　　金：中科院沈阳自动化所机器人学重点实验室项目(RL200202)资助

摘　　要：深入分析了轮式移动机器人的运动状态,建立了WMR路径偏差系统的非线性数学模型。应用小偏差线性化理论,将该多输入多输出非线性系统简化成一个单输入单输出线性系统。然后基于线性二次型调节器理论进行了系统最优控制器的设计,并针对该理论中加权矩阵Q与R难以确定的问题,从控制效果出发,采用自适应遗传算法对其进行了优化。实现了移动机器人对预定轨迹的满意鲁棒跟踪,同时满足了实时性要求。实验结果证明了该方法的正确性与实用性。Firstly, a wheeled mobile robot＇s（WMR） motion states are analyzed, and then its path deviation system＇s nonlinear mathematic model is established, on the basis of which, by using small deviation linearization theory, a nonlinear multi-input and multi-output system is simplified into a linear single-input and single-output one. Secondly, an optimal control system is designed on a linear quadratic regulator （LQR） basis. Because it is difficult to determine the weighted matrix Q and R, an adaptive genetic algorithm for optimizing the LQR is adopted to control it effectively. In this way the WMR realizes satisfactory robust tracking to the pre-determined trajectory and meets real-time demands at the same time. Finally experimental results show the correctness and validity of this method.

关 键 词：轮式移动机器人 线性二次型调节器 最优控制 自适应遗传算法 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]