轮式移动机器人轨迹跟踪控制算法的研究  

Research on algorithm of wheeled mobile robot's trajectory tracking control

作　　者：尉成果[1] 赖欢[1] 王太江[1] 

机构地区：[1]中国空气动力研究与发展中心设备设计及测试技术研究所,四川绵阳621000

出　　处：《机电工程》2012年第6期730-732,736,共4页Journal of Mechanical & Electrical Engineering

摘　　要：为解决轮式移动机器人平面运动控制问题,将平面几何理论应用于轨迹跟踪控制中。建立了机器人平面运动模型,并以此为基础研究了直线和圆弧的轨迹跟踪控制算法;提出了导航圆方法,将机器人实时位置信息和目标轨迹之间的角度偏差及位置偏差综合成一个角度,然后对该角度进行了PID调节;在实验中,将直线、圆弧轨迹跟踪算法实际运用于机器人的运动控制。研究结果表明,该算法能将机器人轨迹的偏差有效地控制在±1 cm以内。In order to satisfy the plane motion control of wheeled mobile robot, the plane geometry theory was investigated. A planar motion model as the basis for the study of linear and circular trajectory tracking control algorithm was established. A navigation round was presented to synthesize an angle by calculating the deviation of both angle and position between the robot＇s real-time location and the target trajectory. Secondly, a PID controller to achieve the intended trajectory tracking was made. The linear and circular trajectory tracking algorithm was practically applied in robotics. The experimental results show that the error is controlled in ±1 cm.

关 键 词：轮式移动机器人 轨迹跟踪 算法 比例-积分-微分调节 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] TH113[自动化与计算机技术—控制科学与工程]