基于滚动优化原理的类车机器人路径跟踪控制  

Path following control of car-like robot based on rolling windows

作　　者：丛岩峰[1,2] 安向京[3] 陈虹[1,2] 喻再涛[1,2] 

机构地区：[1]吉林大学汽车仿真与控制国家重点实验室,长春130022 [2]吉林大学控制科学与工程系,长春130022 [3]国防科技大学自动化研究所,长沙410073

出　　处：《吉林大学学报（工学版）》2012年第1期182-187,共6页Journal of Jilin University:Engineering and Technology Edition

基　　金：国家自然科学基金'视听觉信息的认知计算'重大研究计划重点支持项目(90820302);国家杰出青年科学基金项目(60725311)

摘　　要：针对存在非完整约束的类车移动机器人路径跟踪问题,提出了带约束曲线拟合的路径跟踪策略。借鉴预测控制中的滚动优化原理,通过运用微分平坦方法对所规划路径进行轨迹生成,进而完成路径跟踪过程。同时,基于滚动优化原理的跟踪方式也满足了路径跟踪对实时性的要求,移动机器人在遇到未知障碍情况下能够完成主动避障动作。为验证该方法的有效性,文章最后进行了仿真实验,结果表明,类车机器人在满足执行机构约束以及几何约束的条件下,能够成功避开障碍物,并且具有良好的跟踪性能。To solve the problem of path following control of car-like robot with nonholonomic constraints, a path following strategy with constrained curve-fitting was proposed. Referring to the rolling optimization principle of model predictive control, a strategy generation of the planned path was derived by differential flat method; then the path tracking procedure was realized. Meanwhile, the path tracking method based on rolling optimization principle can follow a reference path in real time. The robot can also actively avoid unpredictable obstacle that lies on the reference path. To verify the feasibility of the proposed tracking strategy, simulations were carried out, which take the geometric constraints and actuator saturation constraints into account. Simulation results show that the robot possesses good tracking effect and can avoid the obstacle successfully.

关 键 词：控制理论 类车机器人 滚动优化 带约束曲线拟合 路径跟踪 微分平坦 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]