考虑打滑干扰的解耦式主动脚轮全向移动机器人跟踪控制  

Decoupling Active Caster Omnidirectional Mobile Robot Tracking Control Considering Slip Interferences

作　　者：李阳 刘子明 陈庆盈 LI Yang;LIU Ziming;CHEN Qingying(Ningbo Institute of Materials Technology and Engineering,Chinese Academy of Sciences,Ningbo,Zhejiang,315201;University of Chinese Academy of Science,Beijing,100049;Zhejiang Key Laboratory of Robotics and Intelligent Equipment Technology,Ningbo,Zhejiang,315201;Faculty of Mechanical Engineering and Mechanics,Ningbo University,Ningbo,Zhejiang,315000)

机构地区：[1]中国科学院宁波材料技术与工程研究所,宁波315201 [2]中国科学院大学,北京100049 [3]浙江省机器人与智能制造装备技术重点实验室,宁波315201 [4]宁波大学机械工程与力学学院,宁波315000

出　　处：《中国机械工程》2020年第18期2247-2253,共7页China Mechanical Engineering

基　　金：国家自然科学基金浙江省两化融合联合基金资助项目(U1509202);装备预研领域基金资助重点项目(61409230101);宁波市创新团队项目(2016B10016);浙江省公益技术研究计划资助项目(LGG19E050007)。

摘　　要：基于解耦式主动脚轮的全向移动机器人系统,提出了一种考虑未知脚轮打滑的轨迹跟踪控制方法。建立了包含脚轮打滑情况的全向移动机器人运动学模型,利用附加传感器获得的冗余信息对滑动参数进行估计;根据反步法设计轨迹跟踪控制器,利用Lyapunov定理证明闭环系统的稳定性,并依据极点配置的方法实现控制参数的整定。仿真与实验结果表明:该控制方法能够使全向移动机器人在复杂室内地面稳定地跟踪设定轨迹。A trajectory tracking control method was proposed considering the unknown caster slips for the omnidirectional mobile robot systems based on decoupling active casters.Firstly,the kinematics model of the omnidirectional mobile robot including the caster slip was established,and the sliding parameters were estimated by using the redundant information obtained by the additional sensors.Then the trajectory tracking controller was designed according to the backstepping method.Asymptotic stability of the closed-loop system was guaranteed by Lyapunov theorem.The control parameters were determined according to the pole placement method.Simulation and experimental results verify that the control method may make the omnidirectional mobile robot track the set trajectory stably in the complex indoor environments.

关 键 词：解耦式主动脚轮 全向移动机器人 打滑干扰 卡尔曼滤波 轨迹跟踪 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]