基于最优控制的移动机器人轨迹运动研究  

The Research of Mobile Robot's Trajectory Movement Based on Optimal Control Computer Engineering and Applications

作　　者：向昱丞 柳波[2] 

机构地区：[1]中国兵器工业第五八研究所特种电子技术部,四川绵阳621000 [2]绵阳师范学院数学与计算机科学学院,四川绵阳621000

出　　处：《机电产品开发与创新》2015年第6期10-13,共4页Development & Innovation of Machinery & Electrical Products

摘　　要：论文研究了移动机器人轨迹运动的最优控制问题。轨迹控制律的合成是以奇异摄动理论的渐近方法与最优控制为基础。奇异摄动理论方法的应用减少了解决问题的步骤,简化了控制律的实现。文中提出了系统具有的两个控制环:位置控制环及速度控制环。在此基础上,控制系统由两个模块组成,即参考模块和执行模块。最后以履带式移动机器人为实验平台,对轨迹运动控制系统进行验证,证明了该控制律具有较好的控制效果。This paper is aimed to the research of mobile robot＇s trajectory movement. The trajectory control law is based on the optimal con-trol and asymptotical methods of singular perturbation theory. The singular perturbation theory＇s methods are used for reducing the order of the solving problem and it helps to simplify the control law. The proposed system has two control loops： position control loop and velocity control loop. Based on this, the structure of the control system is represented by two modules： the reference and the executive. At last, the efficiency of the trajectory control system has been verified at the mobile robot with the tank-type chassis.

关 键 词：移动机器人 轨迹追踪 二次型性能指标 奇异摄动 最优控制 

分 类 号：TP11[自动化与计算机技术—控制理论与控制工程]