带拖车移动机器人全局路径跟踪控制  

Global path following control of tractor-trailer mobile robot

作　　者：苑晶[1] 黄亚楼[2] 孙凤池[2] 

机构地区：[1]南开大学信息技术科学学院,天津300071 [2]南开大学软件学院,天津300071

出　　处：《控制与决策》2007年第10期1119-1124,共6页Control and Decision

基　　金：国家自然科学基金项目(60175030)

摘　　要：研究带拖车移动机器人的前向路径跟踪控制和倒车路径跟踪控制问题.首先建立系统的运动学模型,并进行系统的运动特性分析;然后基于Lyapunov方法提出一种新的单体移动机器人全局路径跟踪控制器,并将其引入带拖车移动机器人的前向路径跟踪控制;再后通过运动学变换,实现了拖挂任意节拖车的系统的倒车路径跟踪控制;最后针对三车体系统的两种路径跟踪控制进行仿真,结果表明了该方法的有效性.The forward and backward path following control for tractor-trailer mobile robot （TTMR） are investigated. First, the kinematic model of the system pulling N trailers is established and its characteristics are analyzed. Then, by using Lyapunov method, a global path following controller for single-body mobile robot is designed and extended into the forward path following control for the TTMR. After that, based on the above controller, a novel approach to the backward path following control for the TTMR is proposed by the transformation of its kinematics. Finally, simulations for three-body TTMR are presented, and the results show the effectiveness of the approach.

关 键 词：带拖车移动机器人 全局路径跟踪控制 前向运动 倒车运动 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]