Trajectory tracking and obstacle avoidance method for robots based on fast terminal sliding mode  

基于快速终端滑模的机器人轨迹跟踪避障方法

作　　者：CAO Zhi-bin YANG Wei SHAO Xing-ling LIU Ning 曹志斌;杨卫;邵星灵;刘宁(中北大学仪器科学与动态测试教育部重点实验室,山西太原030051)

机构地区：[1]Key Lab of Instrumentation Science&Dynamic Measurement(North University of China),Ministry of Education,Taiyuan 030051,China

出　　处：《Journal of Measurement Science and Instrumentation》2020年第1期78-86,共9页测试科学与仪器（英文版）

基　　金：National Natural Science Foundation of China(No.61673042);Shanxi Province Science Foundation for Youths(No.201701D221123)。

摘　　要：For accurate trajectory tracking and obstacle avoidance in finite time of a nonholonomic mobile robot,a trajectory tracking controller based on global fast terminal sliding mode method is proposed,which has the advantages of chattering-free and adjustable convergence time.First of all,the kinematics model of the robot is established in mobile carrier coordinates.Secondly,the global structure including terminal attractor and exponential convergence of the fast terminal sliding mode trajectory tracking controller is proved by Lyapunov stability theory,ensuring that the trajectory and heading angle tracking error converges to a smaller zero range in finite time.Finally,the artificial potential field obstacle avoidance method is introduced to make the robot not only track the reference trajectory strictly,but also avoid the obstacles.The simulation results show that the proposed method can achieve a stable tracking control in finite time for a given reference trajectory.

关 键 词：trajectory tracking global fast terminal sliding mode adjustable convergence time chattering free artificial potential field method 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]