基于动态滑模控制的移动机器人路径跟踪  

Mobile robot's path following based on dynamic sliding mode control

作　　者：徐玉华[1] 张崇巍[1] 鲍伟[1] 傅瑶[1] 汪木兰[2] 

机构地区：[1]合肥工业大学电气与自动化工程学院,安徽合肥230009 [2]南京工程学院先进数控技术江苏省高校重点实验室,江苏南京211167

出　　处：《合肥工业大学学报（自然科学版）》2009年第1期28-31,共4页Journal of Hefei University of Technology：Natural Science

基　　金：先进数控技术江苏省高校重点建设实验室基金资助项目(KXJ07127)

摘　　要：文章研究了室内环境下基于彩色视觉的移动机器人路径跟踪问题,利用颜色信息提取路径,简化了图像的特征提取;拟合路径参数时引入RANSAC方法,以提高算法的可靠性;在移动机器人非线性运动学模型的基础上,设计了一阶动态滑模控制器,并通过仿真验证了控制器的有效性。In this paper, mobile robot＇s path following in indoor environment based on color vision is studied. Firstly, the image features are extracted by color information so that the real-time performance of the algorithm is improved. To enhance the robustness of path parameter fitting, a least square method based on RANSAC is adopted. Then, a first-order dynamic sliding mode controller is designed based on the nonlinear vision-guided robot＇s kinematics. The simulation proves the validity of the controller.

关 键 词：移动机器人 视觉导航 路径跟踪 动态滑模 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]