轮式滑移转向机器人运动分析及轨迹跟踪控制  

Kinematic Analysis and Trajectory Tracking Control for Skid-Steered Mobile Robots

作　　者：李爱娣 李春书[1] 王一 闫尧[1] LI Ai-di;LI Chun-shu;WANG Yi;YAN Yao(School of Mechanical Engineering,Hebei University of Technology,Tianjin 300130,China)

机构地区：[1]河北工业大学机械工程学院,天津300130

出　　处：《机械设计与制造》2018年第11期253-256,共4页Machinery Design & Manufacture

基　　金：河北省自然科学基金(2014202114)

摘　　要：针对滑移转向机器人进行了运动学分析,建立了运动学模型。基于车辆地面力学理论,在假设机器人的质心与其几何中心重合的条件下,分析了机器人平稳转向时车轮与地面接触处的受力状态,建立了其力学平衡方程,分析了车轮转向时的驱动力矩和阻力矩。提出了一种轮式机器人轨迹跟踪滑模控制方法,采用将指数趋近律和幂次趋近律相结合的趋近律函数,基于反演技术(Back-stepping)设计了跟踪控制律;应用Lyapunov函数证明了系统的稳定性。最后将该方法用于仿真机器人的轨迹跟踪控制,仿真结果验证了所提方法的可行性和有效性。According to the kinematic analysis of the skid-steered mobile robot,the kinematic model of the robot is established.Based on vehicle-terramechanic theory,the reaction force of wheel-terrain contact point is analyzed when the robot is steered smoothly,under the condition that the center of mass of the robot is assumed to coincide with its geometric center.The mechanical equilibrium equation is established,and the driving torque and resistance torque of wheel steering are analyzed.A slid mode control method for the trajectory tracking of wheeled robot is proposed.A reaching law function is designed,which combines with exponential reaching law and power reaching law,the tracking control law is designed based on the Back-stepping technique.The stability of the system is proved by using the Lyapunov function.At last,this method is used to simulate the trajectory tracking of the robot.The simulation results verify the feasibility and effectiveness of the proposed method.

关 键 词：滑移转向机器人 运动学模型 力学分析 滑模控制 趋近律 轨迹跟踪 

分 类 号：TH16[机械工程—机械制造及自动化] TH132