移动机器人轨迹跟踪控制研究  

Research on Trajectory Tracking Control of Mobile Robots

作　　者：王俊伟 Wang Jun-wei(College of Mechanical and Electrical Engineering,Hetao College,Bayannaoer Inner Mongolia 015000,China)

机构地区：[1]河套学院机电工程系,内蒙古巴彦淖尔015000

出　　处：《内燃机与配件》2024年第15期61-63,共3页Internal Combustion Engine & Parts

基　　金：内蒙古自治区高等学校科学研究项目,NJZY22248。

摘　　要：差速驱动移动机器人是一种具有非线性、强耦合、欠驱动和受外界扰动的非线性动力学系统。文章围绕非完整约束差速驱动移动机器人(WMR)的质心与几何中心不重合问题,进行移动机器人运动学和动力学模型进行建模,并验证了模型的正确性。并根据运动学和动力学模型的方程,设计了运动学控制器,进行了仿真研究,说明控制方法正确性。The differential drive mobile robot is a nonlinear dynamic system with nonlinearity,strong coupling,underactuation and external disturbance.This article focuses on the problem that the center of mass and the geometric center of the non-holonomically constrained differential drive mobile robot(WMR)do not coincide,and the kinematics and dynamics model of the mobile robot are modeled,and the correctness of the model is verified.Based on the equations of the kinematics and dynamics model,a kinematics controller was designed and a simulation study was conducted to illustrate the correctness of the control method.

关 键 词：非线性 差速驱动移动机器人 运动学模型 动力学模型 控制器 

分 类 号：TP242.2[自动化与计算机技术—检测技术与自动化装置]