四轮全向驱动小车运动控制方法研究  

Four Wheeled Omni-directional Drive Vehicle Motion Control Method Research

作　　者：闫化锦[1] 李润萱[2] 杨永志[1] 毕德学[1] 

机构地区：[1]天津科技大学机械工程学院,天津300222 [2]天津大学精仪学院,天津300192

出　　处：《控制工程期刊（中英文版）》2013年第4期288-294,共7页Scientific Journal of Control Engineering

摘　　要：本文针对我国快速发展的家务市场需求，解放人的繁杂的劳动，充分享受现代生活，以效率较高的四轮全向机器人清扫小车为研究对象，基于AVR单片机的运动控制原理，通过对机器人小车模型的详细分析，采用曲率半径的方法对模型进行简化，通过不断地改变曲率半径实现对小车的控制，使机器人小车能快速地反应，具有较好的实时性。系统采用模块化编程，模块便于加入，提高了可读性，容易调试，实现避障，较好地实现预先设定的路径，具有一定的实用性。In view of the rapid development of China＇s domestic market demand, the liberation of human complex labor, the full enjoyment of modern life. With high efficiency of four wheeled omni-directional robot cleaning vehicle as the research object, based on AVR motion control theory, the robot model is analyzed in detail, the radius of curvature of the method of model simplification, by constantly changing the radius of curvature of the control car, so that a robot could quickly, has good real time. The system uses modular programming, obstacle avoidance module to join, improved the readability, easy debugging, to realize the obstacle avoidance, better achieve the predetermined path, and has a certain practicality.

关 键 词：曲率半径 运动模型 路径实现 

分 类 号：TP242.3[自动化与计算机技术—检测技术与自动化装置]