四轮滑移转向移动机器人运动分析及轨迹跟踪控制  

Motion analysis and trajectory tracking control of four-wheel skid-steering mobile robots

作　　者：郅耀威 赵书尚[1] 李东林 雷江涛 ZHI Yaowei;ZHAO Shushang;LI Donglin;LEI Jiangtao(College of Mechanical and Electrical Engineering,Henan University of Science and Technology,Luoyang 471003,China)

机构地区：[1]河南科技大学机电工程学院,河南洛阳471003

出　　处：《兵器装备工程学报》2024年第9期277-282,306,共7页Journal of Ordnance Equipment Engineering

基　　金：国家自然科学基金项目(52105054)。

摘　　要：四轮滑移转向移动机器人因其结构简单可靠性高而被广泛使用,针对四轮滑移转向移动机器人转向运动,引入了3个运动学参数用于描述机器人转向运动,建立了移动机器人的动力学模型,并进行数值求解,得到3个运动学参数与机器人轮速之间速度变化关系,进一步得出滑移转向移动机器人在低速工况下可等效为轮式差速机器人,为滑移转向机器人运动控制和路径规划提供了理论参考。根据所建立的运动学模型轨迹跟踪问题,利用Lyapunov直接法设计了基于反步控制(Backstepping Control)的非线性反馈控制率。仿真结果表明:所提出的控制方法具有有效性。Four-wheeled Skid-Steering mobile robots are widely used due to their simple structure and high reliability.For the turning motion of four-wheel Skid-steering mobile robots,three kinematic parameters are introduced to describe the robot’s turning motion.The dynamic model of the mobile robot is established and numerically solved to obtain the relationship between the three kinematic parameters and the wheel speeds of the robot.Furthermore,it is concluded that the Skid-steering mobile robot can be effectively equivalent to a differential drive robot under low-speed conditions,providing a theoretical reference for robot motion control and path planning.Based on the established kinematic model and the trajectory tracking problem,a nonlinear feedback control rate based on backstepping control is designed using the Lyapunov direct method.Through simulation experiments,the effectiveness of the proposed control method is verified.

关 键 词：滑移转向 运动学模型 动力学模型 反步控制 轨迹跟踪 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] TP273[自动化与计算机技术—控制科学与工程]