基于栅格地图的移动机器人路径跟踪控制器设计与实现  

Design and Implementation of Controller of Path Following for Mobile Robot Based on Grid Map

作　　者：王川[1] 吴怀宇[1] 温安邦[1] 程磊[1] 王芬[1] 

机构地区：[1]武汉科技大学信息科学与工程学院冶金自动化与检测技术教育部工程研究中心,武汉430081

出　　处：《组合机床与自动化加工技术》2009年第12期1-7,共7页Modular Machine Tool & Automatic Manufacturing Technique

基　　金：国家自然科学基金(50675161);国家自然科学基金(60705035);国际科技合作重点项目(2006CA025);湖北省教育厅重大研究项目(Z200511001)

摘　　要：对轮式移动机器人的路径跟踪问题进行讨论。针对栅格地图模型下由离散路径点组成的路径,采用点镇定原理和Lyapunov直接法来设计路径跟踪控制器。并通过仿真实验验证所设计的控制器的有效性。在充分考虑到算法移植的操作性需要,和程序执行的实时性需要的情况下,将路径跟踪控制器移植到移动机器人上位机作为高级决策器。通过移动机器人在实验室环境下进行的路径跟踪实验,证明了路径跟踪控制器运行稳定,机器人能够准确而且平滑地跟踪规划路径。The path following problem of wheeled mobile robot is discussed. The way of following the path which is combined by the discrete way points is by using the controller of path following. This controller is designed via Lyapunov direct method and the theory of point stabilization. Simulations verify the effectiveness of the controller. The path following experiments for the mobile robot are designed by using the programs of the controllers of path following. The programs which can be run in the upper computer of robot are written in C language by considering real-time property about algorithms of the controller. The experimental results of the mobile robot in the real environment indicate that the controller is stable and the robot can follow the path 19 reciselv .

关 键 词：轮式移动机器人 路径跟踪 栅格地图 LYAPUNOV函数 点镇定 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]