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针对轮式移动机器人的轨迹跟踪问题,提出了一种基于运动学模型的自适应轨迹跟踪控制算法。在分析经典轨迹跟踪控制律缺点的基础上,算法中引入了机器人位姿误差的纵坐标误差以加速机器人的轨迹逼近速度,并采用人工场和位姿误差协同作用来共同完成机器人的导向控制。该控制律结构简单,鲁棒性强。仿真实验表明该方法使移动机器人具有更理想的逼近轨迹。
Aimed at the trajectory tracking problem of wheeled mobile robot, an adaptive trajectory tracking control algorithm based on kinematic model is proposed. Based on the analysis of the shortcomings of the classical trajectory tracking control law, this paper introduced the ordinate error of robot attitude and attitude to accelerate the trajectory approximation speed of the robot, and used the manual field and attitude-error coordination to accomplish the robot’s guidance control. The control law is simple in structure and strong in robustness. Simulation results show that this method makes the mobile robot have a more ideal approach trajectory.