论文部分内容阅读
对于非完整移动机器人的轨迹跟踪控制已有很多方法提出,但是这些方法或者是基于动力学模型或者是采用复杂的运动学模型,对于缺少强大计算设备且需要实时控制的工程应用是不适合的.本文针对非完整移动机器人提出了一种基于比例微分(proportional-differential,PD)控制器的实时轨迹跟踪控制方法.该方法运行在40MHz的嵌入式控制器上的控制周期只有1～2ms.通过将一个用于直流电机控制的非线性PID速度控制器与提出的轨迹控制器进行集成,实现了一个轮式移动机器人的运动控制.机器人轨迹跟踪实验系统中采用微机电系统(micro electro-mechanical system,MEMS)惯性测量单元检测轮式移动机器人的偏航角,实验结果验证了提出方法的有效性.
Many methods have been proposed for trajectory tracking control of nonholonomic mobile robots. However, these methods are either based on dynamic models or using complex kinematic models, which are not suitable for engineering applications that lack powerful computing devices and require real-time control. In this paper, a real-time trajectory tracking control method based on a proportional-differential (PD) controller is proposed for a nonholonomic mobile robot. The control cycle of this method is only 1 ~ 2ms on a 40MHz embedded controller, A nonlinear PID speed controller for DC motor control is integrated with the proposed trajectory controller to realize the motion control of a wheeled mobile robot.The micro electro-mechanical system MEMS) inertial measurement unit detects the yaw angle of the wheeled mobile robot, the experimental results verify the effectiveness of the proposed method.