基于多传感器融合的机器人轨迹跟踪控制  

Multi-sensor Fusion Based Trajectory Tracking Control of Master-slave Robots

作　　者：毛文勇 张文安[1] 仇翔[1] MAO Wen-yong;ZHANG Wen-an;QIU Xiang(College of Information Engineering,Zhejiang University of Technology,Hangzhou 310023,China)

机构地区：[1]浙江工业大学信息工程学院,浙江杭州310023

出　　处：《控制工程》2020年第7期1125-1130,共6页Control Engineering of China

基　　金：浙江省公益项目(2016C31065)。

摘　　要：针对主从式移动机器人轨迹跟踪问题,设计了一种基于多传感器信息融合和模糊PI控制器的跟随控制系统。首先,为提高机器人的定位精度,采用卡尔曼滤波算法对激光数据和里程计数据进行融合,以更加精确的获得移动机器人的坐标信息,并建立主从机器人轨迹跟踪误差模型。进而设计了模糊PI控制器,实现移动机器人的轨迹跟踪控制。最后,设计了跟踪控制实验平台,并在该平台上验证了所提出方法的有效性和优越性。This paper is concerned with the trajectory tracking control system problem for master-slave robots based on multi-sensor information fusion approach. First, the Kalman filter algorithm is applied to fuse the laser and odometry data to improve the positioning accuracy of the robot, which help establish the error model of the robot trajectory tracking system. Then, a fuzzy PI controller is designed to realize the trajectory tracking control of the master-slave mobile robot. Finally, a tracking control experiment platform is designed, and the effectiveness and advantages of the proposed methods are verified on the platform.

关 键 词：移动机器人 轨迹跟踪 多传感器融合 模糊控制 

分 类 号：TP249[自动化与计算机技术—检测技术与自动化装置]