基于线性组合函数的移动机器人步态PID控制方法  

Gait PID control method of mobile robot based on linear combination function

作　　者：余善好 YU Shan-hao(Anhui Sanlian University,Hefei 230601,China)

机构地区：[1]安徽三联学院,合肥230601

出　　处：《齐齐哈尔大学学报（自然科学版）》2023年第5期14-19,共6页Journal of Qiqihar University(Natural Science Edition)

基　　金：安徽省教育厅高校自然科学项目“基于深度学习的井下行人目标检测与跟踪算法的研究”(KJ2021A1176);安徽三联学院校级重点科研项目“基于多数据融合的智能机器人避障算法研究”(KJZD2022010);安徽三联学院重点科研项目“高隔离度超宽带天线研究与设计”(KJZD2023007)。

摘　　要：移动机器人移动过程中,受步态角、线速度等因素的影响,造成控制后机器人功率消耗较高。为此,提出基于线性组合函数的移动机器人步态PID控制方法。构建移动机器人运动学模型和机器人位移后主从机器人之间的追随误差模型,确定移动机器人运动过程中的角速度、线速度。基于线性组合函数设计移动机器人步态PID控制器,通过该控制器控制机器人的追随误差偏差和角、线速度等因素并输出控制结果,实现移动机器人步态PID控制。实验结果表明,所提方法在0°, 15°和25°仰角时分别需要5次、2次和1次即可最大限度降低误差;移动机器人步态PID控制后,选取的路线最近,可以准确避开不同类型的路障,控制后机器人最高消耗功率为20 W。During the movement of a mobile robot,it is affected by factors such as gait angle and line speed,resulting in high power consumption of the robot after control.Therefore,a gait PID control method for mobile robots based on linear combination functions is proposed.The kinematic model of the mobile robot and the tracking error model between the master and slave robots after the displacement of the robot are constructed to determine the angular velocity and linear velocity of the mobile robot in the movement process.Based on the linear combination function,the gait PID controller of mobile robot is designed.Through this controller,the following error deviation,angle,linear velocity and other factors of the robot are controlled and the control results are output,so the gait PID control of mobile robot is realized.The experimental results show that the proposed method needs 5 times,2 times and 1 time respectively at 0°,15°and 25°elevation angles to minimize the error.After the gait PID control of the mobile robot,the selected route is the closest,and it can accurately avoid different types of roadblocks.The maximum power consumption of the robot after control is 20W.

关 键 词：移动机器人 PID控制 步态控制 线性组合函数 运动学模型 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]