离轴拖挂轮式移动机器人跟踪控制研究  

Research on tracking control of the tractor-trailer wheeled mobile robot with an off-axle hitching

作　　者：苗盛阳 周宇生 MIAO Shengyang;ZHOU Yusheng(School of Mathematics and Statistics,Guizhou University,Guiyang 550025,China)

机构地区：[1]贵州大学数学与统计学院,贵阳550025

出　　处：《重庆理工大学学报（自然科学）》2024年第2期236-245,共10页Journal of Chongqing University of Technology：Natural Science

基　　金：国家自然科学基金项目(12162006);贵州省科技计划项目(黔科合基础-ZK[2023]一般037)。

摘　　要：针对离轴拖挂轮式移动机器人挂车的轨迹跟踪控制问题,基于拖车和挂车运动轨迹的相对曲率关系提出了一种动态跟踪方法。建立离轴拖挂轮式移动机器人的运动学模型和动力学模型。通过拖车和挂车位置几何关系给出了两车的速度关系,进而得到两车运动轨迹相对曲率之间的关系。基于曲率关系将挂车的运动任务转化为拖车的运动任务,并结合动态跟踪方法设计比例积分反馈控制器完成拖车的运动任务。最后通过模拟仿真实现了挂车精确的轨迹跟踪控制,仿真结果表明在所提控制器的作用下,挂车在拖车的拉拽下可精确地跟踪目标轨迹曲线。由于所使用的动态跟踪方法引入了目标轨迹曲线的相对曲率,极大地提高了跟踪的精确性。This paper proposes a dynamic tracking method based on the relative curvature relationship between the tractor and the trailer trajectory to address the trajectory tracking problem of the trailer in tractor-trailer wheeled mobile robot with an off-axle hitching.First,the kinematics model and dynamics model of the tractor-trailer wheeled mobile robot with an off-axle hitching are built.Then,the speed relationship between the two vehicles is determined with the aid of the geometric relationship between the tractor and the trailer position,and the relationship between the relative curvatures of the two vehicles’trajectories is obtained.Based on the curvature relation,the motion task of the tractor is transformed into the motion task of the trailer,and a proportion integration feedback controller is designed to complete the motion task of the tractor by combining with the dynamic tracking method.Finally,the accurate trajectory tracking control of the trailer is achieved by simulation.Our simulation results show the trailer accurately tracks the target trajectory curve under the action of the proposed controller.As our dynamic tracking method introduces the relative curvature of the target trajectory curve,the tracking accuracy is substantially improved.

关 键 词：离轴拖挂轮式移动机器人 动态跟踪方法 相对曲率 比例积分反馈控制 

分 类 号：TP13[自动化与计算机技术—控制理论与控制工程]