基于GPS锚点的自行车机器人路径跟踪算法设计与实现  

Design and Implementation of Path Tracking Algorithm for Bicycle Robot Based on GPS Anchor Point

作　　者：郑佳秋 严华 邱健斌 何倩 蒋文全 钟蕾 Zheng Jiaqiu;Yan Hua;Qiu Jianbin;He Qian;Jiang Wenquan;Zhong Lei(Chengdu Technological University,Chengdu 610031,China)

机构地区：[1]成都工业学院,成都610031

出　　处：《机电工程技术》2025年第5期65-68,157,共5页Mechanical & Electrical Engineering Technology

基　　金：成都工业学院校级科研项目(2023YB028);大学生创新训练计划项目(202411116012)。

摘　　要：设计了一款基于RT064核心板的自行车机器人,该机器人利用GPS锚点跟踪算法实现了路径跟踪。采用TAU201双频GPS模块以及IMU963RA九轴姿态传感器模块来获取小车姿态数据以及GPS位置数据;采用惯性飞轮通过惯性力矩保持自行车的侧向平衡;车把控制采用舵机调整方向角,实现路径跟踪。在跟踪算法的实现上,首先在预设路径沿线上采集多个锚点的坐标数据,在自行车机器人行驶过程中实时采集自身的GPS信息,通过计算实时方位角和与锚点之间的夹角,然后用于构造误差量,误差代入PID控制算法,使得机器人能对锚点进行趋近,以实现锚点跟踪,一系列锚点的跟踪形成了路径跟踪。设计了实物样机,通过编写算法代码控制自行车机器人平衡控制和航向运动,在样机上实现了自行车机器人路径跟踪控制。A bicycle robot based on RT064 core board is designed,which uses GPS anchor point tracking algorithm to realize path tracking.TAU201 dual-frequency GPS module and IMU963RA nine-axis attitude sensor module are installed to obtain the attitude data of the car and GPS position data.Inertial flywheel is installed to maintain the lateral balance of the bicycle through the inertia moment,and the handlebar is controlled by the steering engine to adjust the direction angle so as to realize path tracking.To implement the tracking algorithm,the coordinate data of multiple anchor points along the preset path is first collected,the GPS information of the bicycle robot is collected in real time during the driving process,the real-time azimuth angle and the angle between the anchor point are calculated,to construct error values,then errors are put into the PID control algorithm,so that the robot can approach the anchor point to realize the anchor point tracking.The tracking of a series of anchor points also forms path tracking.A prototype is designed,and the path tracking control of the bicycle robot is realized by writing algorithm code to control the balance control and heading motion of the bicycle robot.

关 键 词：自行车机器人 路径跟踪算法 GPS PID RT1064单片机 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] U484[自动化与计算机技术—控制科学与工程]