两轮自平衡可移动机器人能耗最优运动轨迹规划方法  

Optimal Trajectory Planning Method for Energy Consumption of Two-Wheeled Self-Balancing Mobile Robot

作　　者：杨怡婷 YANG Yi-ting(Department of Mechanical and Electrical Engineering,Tianjin Coastal Polytechnic,Tianjin 300451,China)

机构地区：[1]天津滨海职业学院机电工程系,天津300451

出　　处：《兰州文理学院学报（自然科学版）》2022年第1期59-63,共5页Journal of Lanzhou University of Arts and Science(Natural Sciences)

基　　金：2021年天津市教育工作重点调研课题(JYDY-20213018);2021年天津市教育科学规划课题延续课题(FJE210055)。

摘　　要：为了进一步提高两轮自平衡可移动机器人的电能转换效率,提出了一种能够以最小电能消耗完成预定移动轨迹的规划方法.首先通过预定轨迹与电机工作电压的传递函数以及能耗计算出由时域到频域的转换,然后运用频域分析的方法创建具有过程描述能力的线性能耗模型,并引入最小二乘法用于模型参数的确定,最后将运动轨迹分解为多个局部目标点,计算相邻两点之间的最小能耗运动轨迹及行动时间.仿真实验结果表明,通过该方法能够有效获得最优轨迹.In order to further improve the power conversion efficiency of two-wheeled self-balancing mobile robot,a planning method which can complete the predetermined trajectory with minimum power consumption was proposed.Through the transfer function between the predetermined trajectory and the working voltage of the motor,and the conversion of energy consumption calculation from time domain to frequency domain,a linear energy consumption model with process description ability was established based on the frequency domain analysis method,and the least square method was introduced to determine the model parameters.The motion trajectory was decomposed into multiple local target points,and the minimum energy consumption trajectory and action time between two adjacent points were calculated.The simulation results showed that the optimal trajectory can be obtained by this method.

关 键 词：可移动机器人 能耗 运动轨迹 最优规划 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]