球形机器人轨迹跟踪算法  

Path Tracking Control of Spherical Mobile Robot

作　　者：汪磊[1] 战强[1] 

机构地区：[1]北京航空航天大学机械工程及自动化学院,北京100191

出　　处：《机械工程与自动化》2013年第6期127-129,共3页Mechanical Engineering & Automation

摘　　要：典型的动态轨迹跟踪算法针对非完整移动机器人提出了一种系统框架,并且在模拟实验中展现了良好的跟踪性能。然而,该算法在2自由度摆球形机器人系统中并未同时实现位置和姿态的收敛。讨论了一种实用的球形机器人轨迹跟踪控制算法,着眼于位置与姿态的同时收敛。受跟踪引导模式的启发,提出了一种适用于球形机器人轨迹跟踪控制的模糊自适应控制方案,并通过MATLAB对提出的轨迹跟踪方法进行了有效性验证。The typical dynamic path following method presents a systematic framework for nonholonomic mobile robot and exhibits excellent tracking performance in simulations and experiments. However, it fails to converge the position and pose simultaneously for spherical robot with a 2 DOFs pendulum. This paper discusses the practical path tracking control of a spherical robot, focusing on the simultaneous converges of position and pose. Under the inspiration of human-like tracker-guide mode, a real-time fuzzy guidance scheme for the path tracking control of the spherical robot is proposed, and validated through MATLAB simulations.

关 键 词：球形移动机器人 路径跟踪 模糊控制 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]