非连续路段下移动机器人的轨迹跟踪  

Trajectory tracking of mobile robot under discontinuous stretch

作　　者：孟静[1,2] 高晓丁[1] 陈罡[2] 

机构地区：[1]西安工程大学机电工程学院,陕西西安710000 [2]浙江纺织服装学院机电学院,浙江宁波315200

出　　处：《机电工程》2015年第7期1000-1005,共6页Journal of Mechanical & Electrical Engineering

基　　金：宁波市重大科技攻关资助项目(2013B10045)

摘　　要：针对轮式移动机器人在非连续路段下的轨迹跟踪问题,对移动机器人数学模型和道路模型的建立、轨迹信息的获取以及控制器的设计进行了研究。首先分析了移动机器人的运动学方程及对摄像机的标定,通过建立移动机器人的直线轨迹跟踪模型,并用二值化方法对非连续路段进行了图像处理,提取了图像中非连续路段信息,实现了移动机器人在轨迹跟踪过程中运动的可靠性;然后基于Lyapunov函数设计了渐进稳定的轨迹跟踪控制器,使移动机器人能够在连续路段和非连续路段跟踪确定路径;最后通过Matlab进行了仿真。仿真结果表明,所设计的控制器和算法能使移动机器人的跟踪误差快速收敛于零,轨迹跟踪效果良好,适用于移动机器人对非连续路段的轨迹跟踪控制。Aiming at the trajectory tracking problem of wheeled mobile robot in discontinuous sections,the establishment of the mathematical model and road model of the mobile robot,the acquisition of the trajectory information and the design of the controller was studied. Firstly the kinematics equation of the mobile robot was analyzed and the camera was calibrated,a straight line trajectory tracking model of the mobile robot was established,then using image processing to deal with discontinuous sections which was based on binarization method,the image information of the discontinuous sections and the reliability of the mobile robot＇s movement in the process of trajectory tracking was achieved.And then the gradually stable trajectory tracking controller was designed that was based on Lyapunov function,the decided path in continuous and discontinuous sections can be tracked by the mobile robot. Finally,Matlab was used to simulate,the results shows that the tracking errors of the mobile robot is converged to zero quickly under the designed controller and the algorithm,and the effect of the trajectory tracking is good,which can be used for the trajectory tracking control of the mobile robot in discontinuous sections.

关 键 词：轮式移动机器人 轨迹跟踪 LYAPUNOV函数 非连续路段 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]