一种新的移动机器人跟踪控制方法  

A Novel Method of Path Following Control for A Mobile Robot

作　　者：陈无畏[1] 施文武[2] 王启瑞[1] 何世娣[3] 

机构地区：[1]合肥工业大学机械与汽车学院,合肥230009 [2]东南大学自动控制系,南京210096 [3]合肥工业大学研究生部,合肥230009

出　　处：《仪器仪表学报》2004年第1期13-17,52,共6页Chinese Journal of Scientific Instrument

基　　金：安徽省自然科学基金资助项目 ( 0 0 0 43 2 3 8)

摘　　要：以前轮转向、后轮驱动的四轮移动机器人为研究对象 ,建立了它的运动学模型 ,提出了一种鲁棒性好 ,实时性强 ,易于实现的跟踪控制方法。此方法将被跟踪路径划分成若干微小线段 ,应用以微小直线段代替曲线的方法 ,来进行分段跟踪。理论分析表明 ,该方法能保证系统的稳定性。采用此方法 ,计算简单 ,实现容易 ,并使得移动机器人跟踪的实时性、精确性得到提高。通过多种参考路径跟踪的仿真计算和实时跟踪控制试验 ,其结果均说明此方法是正确和有效的。A 4 wheel mobile robot with front wheel steer and rear wheel drive is taken as the research objective. A kinematics model is established, and a novel method of following control is presented, which has satisfactory performance of real-time, robustness and adapting to complicated paths. This method divides desired trajectory into many pieces and follows the pieces one by one. Theoretical analyses show that the method can ensure the system steadiness. With the method, the calculation of curvature of tracking trajectory and complex calculating process can be avoided, and the performance of real-time and precision can be improved. Under different desired paths, simulation and experiment results demonstrate the effectiveness and correctness of the method.

关 键 词：移动机器人 跟踪控制 运动学模型 路径跟踪系统 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]