| 具有超前特性的移动机器人跟踪截获控制算法 |
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| 引用本文： | 郭小勤,徐刚.具有超前特性的移动机器人跟踪截获控制算法[J].制造业自动化,2007,29(9):48-51. |
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| 作者姓名： | 郭小勤 徐刚 |
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| 作者单位： | 深圳大学机电与控制工程学院,广东,深圳,518060 |
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| 基金项目： | 国家自然科学基金资助课题(60175026)，深圳市科技局资助项目(200206) |
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| 摘 要： | 针对移动机器人跟踪截获运动目标问题,本文提出了具有超前瞄准的跟踪截获控制算法。在已知直线恒速运动目标特性的情况下,推导出了直线跟踪截获目标的超前瞄准角的计算公式。在目标特性未知的情况下,提出了基于目标视线角的修正PD控制算法。仿真试验结果表明该方法与常规的基于目标视线角的方法比较,能有效地改善机器人跟踪特性,其跟踪轨迹平直,目标截获时间短。
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| 关 键 词： | 移动机器人 运动目标跟踪 控制算法 |
| 文章编号： | 1009-0134（2007）09-0048-04 |
| 修稿时间： | 2007-03-12 |
Tracking-capturing control algorithm with prediction property for a mobile robot |
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| GUO Xiao-qin,XU Gang.Tracking-capturing control algorithm with prediction property for a mobile robot[J].Manufacturing Automation,2007,29(9):48-51. |
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| Authors: | GUO Xiao-qin XU Gang |
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| Affiliation: | College of Mechatronics and Control Engineering, Shenzhen University, Shenzhen 518060, China |
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| Abstract: | This paper deals with the problem of tracking and capturing a moving object by a wheeled mobile robot.A control algorithm with position prediction is proposed for this purpose.The calculation formula for predicting the position angle is deduced,under the assumption that the target object is moving along a line at a constant velocity.In the case of unknown trajectory,a PD controller based on the line of sight angle is presented.The proposed control algorithm is numerically simulated on a mobile robot and compared with the control method in 1].The simulation result shows that the tracking property of the mobile robot is improved efficiently. |
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| Keywords: | mobile robot tracking and capturing control algorithm |
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