摆臂式全向移动机器人双模式轨迹跟踪研究  

Study on dual-mode trajectory tracking of swing-arm omnidirectional mobile robot

作　　者：冉起帆 姚圣卓 陈新波[2] RAN Qifan;YAO Shengzhuo;CHEN Xinbo(School of Mechanical-Electronic and Automobile Engineering,Beijing University of Civil Engineering and Architecture,Beijing 100044;China North Vehicle Research Institute,Beijing 100072)

机构地区：[1]北京建筑大学机电与车辆工程学院,北京100044 [2]中国北方车辆研究所,北京100072

出　　处：《机械设计》2024年第4期65-73,共9页Journal of Machine Design

摘　　要：为了提升室外轮式移动机器人全向机动能力,文中提出一种通过普通轮作为驱动的移动机器人,根据不同动力分配及摆腿转角实现四轮转向(4WS)、斜行和原地转向模式。基于斜行及4WS模式设计了双模式混合控制器,其中,斜行模式采用多点预瞄模糊补偿轨迹跟踪控制,4WS模式采用增量线性时变模型预测控制(ILTV-MPC)。通过试验样机的横、纵向跟踪性能试验得到双模式混合控制器所需的约束条件。采用Simulink∕CarSim联合仿真平台对控制器的有效性进行验证。采用混合控制器的移动机器人底盘在低曲率跟踪时较4WS模式均方根误差相差0.18%,且横摆角与横摆角速度维持不变。结果表明:混合控制器保证全轮转向机器人低曲率跟踪精度的同时提升了其横摆稳定性。In this article,in order to enhance the omnidirectional maneuverability of outdoor wheeled mobile robots,a mobile robot driven by a common wheel is proposed,which realizes the modes of four-wheel steering(4WS),oblique motion and spot turn,according to different power distribution and angle of leg rotation.A dual-mode hybrid controller is designed based on the oblique motion and 4WS modes.The oblique motion mode adopts multi-point pre-scanning fuzzy-compensation trajectory tracking control;the 4WS mode uses the incremental linear time-varying model predictive control(ILTV-MPC).The constraints required for the dual-mode hybrid controller are identified by experimenting the prototype’s transverse and longitudinal tracking performance.The joint Simulink∕CarSim simulation platform is used to verify that the controller is effective.The chassis of the mobile robot equipped with the hybrid controller has 0.18%difference in the root mean square error compared to the 4WS mode in terms of low curvature tracking,and the transverse swing angle and the transverse swing angular velocity remain constant.The results show that the hybrid controller ensures the all-wheel steering robot’s high accuracy in terms of low-curvature tracking while improving its transverse pendulum stability.

关 键 词：斜行模式 四轮转向模式 轨迹跟踪 多点预瞄 双模式混合控制 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]