一种3自由度移动机器人的跟踪新策略  

A Novel Tracking Strategy of a Mobile Robot with 3 Degrees of Freedom

作　　者：李艳[1] 高峰[2] 林廷圻[1] 

机构地区：[1]西安交通大学机械工程学院,西安710049 [2]西安理工大学机仪学院,西安710048

出　　处：《系统仿真学报》2004年第3期585-588,592,共5页Journal of System Simulation

摘　　要：在证明了3自由度移动机器人系统具有可逆性的前提下,利用神经网络a-阶积分逆系统线性化解耦能力,将严重非线性及耦合的3自由度移动机器人系统解耦成3个SISO(single input-single output)的子系统,采用线性控制理论设计了路径跟踪控制器,实现了位置和方位的独立跟踪,同时提高了控制算法的实时性。最后通过路径跟踪仿真实例验证了算法的可行性和有效性。On the premise of that 3-DOF mobile robot system is invertible, the paper provides an algorithm which can decouple the serious nonlinear and coupled 3-DOF system into three SISO (single input-single output) subsystems via NN ath-order inverse system method. Based on the linear control theory the path-tracking controller is designed, which realizes independent control of position between orientation and enhances the real-time control of the algorithm. Finally, tracking simulation is given to verify the feasibility and efficiency of the algorithm.

关 键 词：3自由度移动机器人 逆系统方法 解耦 路径跟踪 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]