轮式移动机器人轨迹跟踪控制算法的研究.pdf

文档介绍：29 6 Vol. 29
第卷第期
2012 6 Journal of机 Mechanical 电& Electrical 工程 Engineering Jun. 2012
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轮式移动机器人轨迹跟踪控制算法的研究
尉成果,赖欢,王太江
621000
(中国空气动力研究与发展中心设备设计及测试技术研究所,四川绵阳)
摘要:为解决轮式移动机器人平面运动控制问题,将平面几何理论应用于轨迹跟踪控制中。建立了机器人平面运动模型,并以此为
基础研究了直线和圆弧的轨迹跟踪控制算法;提出了导航圆方法,将机器人实时位置信息和目标轨迹之间的角度偏差及位置偏差综
PID
合成一个角度,然后对该角度进行了调节;在实验中,将直线、圆弧轨迹跟踪算法实际运用于机器人的运动控制。研究结果表
±1 cm
明,该算法能将机器人轨迹的偏差有效地控制在以内。
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关键词:轮式移动机器人;轨迹跟踪;算法;比例积分微分调节
A 1001-4551 2012 06-0730-03
中图分类号:TP242;TH113 文献标志码: 文章编号: ( )
Research on algorithm of wheeled mobile robot's
trajectory tracking control
YU Cheng-guo LAI Huan WANG Tai-jiang
, ,
Facility Design and Instrument Institute China Aerodynamics Research and Development Center
( , ,
Mianyang 621000 China
, )
In order to satisfy the plane motion control of wheeled mobile robot the plane geometry theory was investigated. A planar
Abstract: ,
motion model as the basis for the study of linear and circular trajectory tracking control algorithm was established. A navigation round
was presented to synthesize an angle by calculating the deviation of both angle and position between the robot's real-time location and
the target trajectory. Secondly a PID controller to achieve the intended trajectory tracking was made. The linear and circular trajectory
,
tracking algorithm was practically