基于人工势场导向的移动机器人点镇定控制  

Point Stabilization of Wheeled Mobile Robots Based on Artificial Potential Field

作　　者：严晓照[1] 徐海黎[1] 李建华[2] 

机构地区：[1]南通大学机械工程学院,江苏南通226019 [2]中国海洋大学环境科学与工程学院,山东青岛266071

出　　处：《微计算机信息》2009年第23期189-191,119,共4页Control & Automation

摘　　要：讨论了非完整约束机器人的点镇定问题,提出了一种新颖且简单的控制器并证明了其镇定性,控制器基于人工势场导向构造,控制参数通过遗传算法优化。和其他控制方法相比,该控制器具有设计简单、收敛速度快、适应能力强的特点。机器人的实际试验证明的该方法的有效性。Point stabilization is the major control problem of nonholonomic wheeled mobile robots （WMRs）. In this paper, a novel simple tracking controller is presented based on the kinematics models. An artificial potential field is used to navigate the wheeled robot in the controller. Easy design, fast convergence, and adaptability to other nonholonomic mobile are obvious advantages. The control parameters of this system are optimized by the Genetic Algorithm. Then, the parameters are tuned and used in the actual system. The good effect of the control is gotten. The stability of the controller is confirmed, and the effectiveness of the controller is demonstrated via its implementation.

关 键 词：轮式移动机器人 非完整约束系统 点镇定 人工势场 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]