考虑外部扰动的四轮移动机器人运动轨迹控制优化方法  

Motion Trajectory Control Optimization Method for Four-wheeled Mobile Robot Considering External Disturbance

作　　者：纪永 JI Yong(Shanghai Urban Construction Vocational College,Shanghai 201415,China)

机构地区：[1]上海城建职业学院,上海201415

出　　处：《机械与电子》2023年第2期23-26,共4页Machinery & Electronics

基　　金：教育部行指委职业教育改革创新课题(HBKC215038)。

摘　　要：控制机器人的运动轨迹,有助于提高四轮移动机器人工作的整体性能,提出考虑外部扰动的四轮移动机器人运动轨迹控制优化方法,利用人工势场法根据机器人运动特点规划其运动轨迹。考虑外部扰动和不确定性因素,结合低通滤波器和滑膜控制器设计运动轨迹控制器,实现四轮移动机器人运动轨迹的优化控制。实验结果表明,所提方法的轨迹控制效果好,距离误差小,稳定性高。Controlling the motion trajectory of the robot is helpful to improve the overall performance of the four-wheeled mobile robot.A motion trajectory control optimization method of the four-wheeled mobile robot considering external disturbances is proposed, and the artificial potential field method is used to plan the motion trajectory according to the motion characteristics of the robot.Considering the external disturbance and uncertainty factors, combined with low-pass filter and synovial controller, the motion trajectory controller is designed to realize the optimal control of the motion trajectory of four-wheeled mobile robot.The experimental results show that the proposed method has good trajectory control effect, small distance error and high stability.

关 键 词：外部扰动 四轮移动机器人 低通滤波器 运动轨迹 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]