轮式移动机器人路径跟踪控制方法研究  

Research on Path Tracking Control Method for Wheeled-Mobile Robot

作　　者：肖献强[1] 程亚兵 王家恩[1] 王鼎用 XIAO Xian-qiang;CHENG Ya-bing;WANG Jia-en;WANG Ding-yong(School of Mechanical and Automotive Engineering Hefei University of Technology,Anhui Hefei230009,China;School of Automotive and Transportation Engineering Hefei University of Technology,Anhui Hefei230009,China)

机构地区：[1]合肥工业大学机械工程学院,安徽合肥230009 [2]合肥工业大学汽车与交通工程学院,安徽合肥230009

出　　处：《机械设计与制造》2021年第1期256-258,262,共4页Machinery Design & Manufacture

摘　　要：针对轮式移动机器人的路径跟踪问题,提出了一种基于动态预瞄的移动机器人路径跟踪控制方法。根据差速轮式移动机器人运动学模型和实时位置信息,建立路径跟踪偏差模型,并采用构建虚拟运动路径的方式设计移动机器人路径跟踪控制方法,结合路径跟踪偏差模型,实时调整移动机器人的运动状态,不断缩小运动过程中的偏差,最终实现路径跟踪。实验结果表明,所设计的移动机器人路径跟踪控制方法能够实现高精度的路径跟踪控制,同时具有良好的可靠性,平稳性。Aiming at the path tracking problem of wheeled mobile robot,a path tracking control method of mobile robot based on dynamic preview technique is presented.According to kinematics model and real-time position information of differential wheeled mobile robot,path tracking deviation model is established,and path tracking control method of mobile robot is designed by constructing virtual motion path.Combining with the path tracking deviation model,the motion state of mobile robot is adjusted in real time and the deviation during the motion process is reduced continuously.Finally,the path tracking is realized.Experimental results show that the path tracking control method of mobile robot can achieve high-precision path tracking control,and has good reliability and stability.

关 键 词：移动机器人 运动模型 偏差控制 路径跟踪 

分 类 号：TH16[机械工程—机械制造及自动化] TH24