基于UWB定位融合的机器人路径跟踪控制技术  

Trajectory tracking algorithm based on UWB positioning fusion for robots

作　　者：庞凌锋 蔡文郁[1] 朱艺 张美燕 PANG Lingfeng;CAI Wenyu;ZHU Yi;ZHANG Meiyan(School of Electronic Information,Hangzhou Dianzi University,Hangzhou Zhejiang 310018,China;The College of Electrical Engineering,Zhejiang University of Water Resources and Electric Power,Hangzhou Zhejiang 310018,China)

机构地区：[1]杭州电子科技大学电子信息学院,浙江杭州310018 [2]浙江水利水电学院电气工程学院,浙江杭州310018

出　　处：《杭州电子科技大学学报（自然科学版）》2022年第6期20-26,83,共8页Journal of Hangzhou Dianzi University：Natural Sciences

基　　金：国家自然科学基金资助项目(61801431);浙江省自然科学资助基金项目(LZ22F010004);浙江省属高校基本科研业务费专项资金资助项目(GK209907299001-001)。

摘　　要：研究机器人的路径跟踪,提出一种基于距离定位的分段PID路径跟踪算法。首先,将机器人跟踪的路径离散化,并进行分段;然后,在每个分段的开始阶段调整航向角,运用超宽带定位技术获取机器人的定位坐标,并将定位坐标代入基于距离定位的分段PID路径跟踪算法完成路径的跟踪,依次重复每个分段的路径直至完成全部路径的跟踪。路径跟踪实验结果表明,与使用PID路径跟踪算法相比,基于距离定位的分段PID路径跟踪算法的误差更小,路径跟踪效果更好。Studying the path tracking of robots, a segmental PID path tracking algorithm based on distance positioning is proposed. Firstly, the path tracked by the robot is discretized and segmented. Then, the heading angle is adjusted at the beginning of each segment, the robot’s positioning coordinates are obtained by using the ultra-wideband positioning technology, and the positioning coordinates are substituted into the PID path tracking algorithm based on distance positioning to complete the tracking of the path. Then repeating the path of each segment in turn until the tracking of the entire path is completed. The experimental data of path tracking shows that, compared with other PID path tracking algorithms, the segmental PID algorithm based on distance positioning has less error and better path tracking effect.

关 键 词：机器人 定位融合 路径跟踪 分段PID控制 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]