复杂地形六轮独立驱动与转向机器人轨迹跟踪与避障控制  

Trajectory Tracking and Obstacle Avoidance Control of Six-wheel Independent Drive and Steering Robot in Complex Terrain

作　　者：刘江涛 周乐来[1,2] 李贻斌 LIU Jiangtao;ZHOU Lelai;LI Yibin(School of Control Science and Engineering,Shandong University,Jinan 250014,Shandong,China;Engineering Research Center of Intelligent Unmanned System,Ministry of Education,Jinan 250014,Shandong,China)

机构地区：[1]山东大学控制科学与工程学院,山东济南250014 [2]智能无人系统教育部工程研究中心,山东济南250014

出　　处：《兵工学报》2024年第1期166-183,共18页Acta Armamentarii

基　　金：国家自然科学基金项目(61973191);山东省杰出青年基金项目(ZR2022JQ28)。

摘　　要：为研究六轮移动机器人在复杂地形的运动控制方法,针对六轮独立驱动与转向机器人复杂地形轨迹跟踪问题,提出一种预测控制和动态补偿的控制方法。基于非完整约束的线性六轮移动机器人运动学模型,以模型预测控制算法为基础,引入比例-积分-微分补偿控制器,抑制动态滞后引起的跟踪误差,设计速度与转向角动态反馈补偿,以应对地形扰动对轨迹跟踪的影响。分析机器人运动过程中障碍物的避碰问题,设计可求解避障轨迹的避障规划器,通过轨迹跟踪系统对局部避障轨迹进行跟踪控制,实现机器人的轨迹跟踪和自动避碰。对轨迹跟踪算法和避障算法进行仿真实验。实验结果表明:在典型工况下,机器人可完成凹形斜坡、凸形斜坡和凹凸地形正弦型轨迹跟踪控制和静态与动态障碍物避碰,验证了新方法的有效性。In order to study the motion control method of six-wheel mobile robot in complex terrain environment,a predictive control and dynamic compensation control method is proposed for the trajectory tracking problem of six-wheel independent drive and steering robot in complex terrain.This method is based on the nonholonomically constrained linear six-wheeled mobile robot kinematics model and the model predictive control algorithm,and introduces a proportional-integral-derivative compensation controller to suppress the tracking error caused by dynamic hysteresis.Coping with the effect of terrain disturbance on trajectory tracking.the collision avoidance problem of obstacles in the process of robot movement is analyzed,an obstacle avoidance planner that can solve the obstacle avoidance trajectory is designed to track and control the local obstacle avoidance trajectory through the trajectory tracking system,thus realizing the trajectory tracking and automatic collision avoidance of robot,and the trajectory tracking algorithm and obstacle avoidance algorithm were simulated experiments.The experimental results show that the robot can complete the sinusoidal trajectory tracking control and the static and dynamic obstacle collision avoidances in concave slope,convex slope and uneven terrain under typical working conditions,which verifies the effectiveness of the method.

关 键 词：六轮独立驱动与转向机器人 轨迹跟踪控制 模型预测控制 PID补偿控制 避障控制 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]