基于非时间参考系的贝塞尔轨迹跟踪算法  

Bezier Trajectory Tracking Algorithm Based on Non-time Reference System

作　　者：刘国平[1] 徐彪 蔡建兵 LIU Guo-ping;XU Biao;CAI Jian-bing(School of Mechanical and Electrical Engineeriing,Nanchang Univesity,Nanchang 330031,China)

机构地区：[1]南昌大学机电工程学院,南昌330031

出　　处：《组合机床与自动化加工技术》2020年第9期72-75,共4页Modular Machine Tool & Automatic Manufacturing Technique

基　　金：国家自然科学基金(61263045)。

摘　　要：为了提高复杂环境下机器人底盘高速运动轨迹跟踪精度,设计一套基于Bezier曲线路径的轨迹跟踪算法。该算法针对机器人移动速度大小,速度方向,控制周期三个控制要素提出了相应的控制策略,使用非时间参考的状态参量,避免由于时间参考产生的累积误差,以达到较高的轨迹跟踪精度。通过Matlab对该算法进行仿真分析,验证其可行性;并使用实验室自主研发的全向移动机器人进行实验测试,结果表明:该算法能够有效避免累计误差产生,极大提高长距离轨迹跟踪的精度;并且在不考虑误差累计的情况下,也具有很高的跟踪精度。In order to improve the tracking accuracy of high-speed motion trajectory of robot chassis in complex environment, a trajectory tracking algorithm based on Bezier curve path is designed. The algorithm proposes a corresponding control strategy for the three control elements of the robot’s moving speed, speed direction and control period. The non-time referenced state parameters are used to avoid the cumulative error caused by the time reference, so as to achieve higher trajectory tracking accuracy. The algorithm is simulated and analyzed by Matlab to verify its feasibility. The experiment is carried out by using the omnidirectional mobile robot developed by the laboratory. The results show that the algorithm can effectively avoid the cumulative error, moreover, has high tracking accuracy without considering the error accumulation.

关 键 词：非时间参考系 路径规划 轨迹跟踪 二阶Bezier曲线 

分 类 号：TH16[机械工程—机械制造及自动化] TG65[金属学及工艺—金属切削加工及机床]