具有超前特性的移动机器人跟踪截获控制算法  

Tracking-capturing control algorithm with prediction property for a mobile robot

作　　者：郭小勤[1] 徐刚[1] 

机构地区：[1]深圳大学机电与控制工程学院,广东深圳518060

出　　处：《制造业自动化》2007年第9期48-51,共4页Manufacturing Automation

基　　金：国家自然科学基金资助课题(60175026);深圳市科技局资助项目(200206)

摘　　要：针对移动机器人跟踪截获运动目标问题,本文提出了具有超前瞄准的跟踪截获控制算法。在已知直线恒速运动目标特性的情况下,推导出了直线跟踪截获目标的超前瞄准角的计算公式。在目标特性未知的情况下,提出了基于目标视线角的修正PD控制算法。仿真试验结果表明该方法与常规的基于目标视线角的方法比较,能有效地改善机器人跟踪特性,其跟踪轨迹平直,目标截获时间短。This paper deals with the problem of tracking and capturing a moving object by a wheeled mobile robot. A control algorithm with position prediction is proposed for this purpose. The calculation formula for predicting the position angle is deduced, under the assumption that the target object is moving along a line at a constant velocity. In the case of unknown trajectory, a PD controller based on the line of sight angle is presented. The proposed control algorithm is numerically simulated on a mobile robot and compared with the control method in [1]. The simulation result shows that the tracking property of the mobile robot is improved efficiently.

关 键 词：移动机器人 运动目标跟踪 控制算法 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]