全向移动机器人最短时间控制

针对全向移动机器人的最短时间控制问题,依据机器人的轮系结构,根据驱动电机的特性简化全向移动机器人动力学模型,采用松弛措施简化机器人的输入量约束空间,实现状态方程的解耦,降低了计算的复杂度;并根据约束空间和边界条件的特点进行变量代换,提出运用开关线平移的Bang-Bang控制实现次优的最短时间控制。自主研发的足球机器人的运动控制仿真结果表明,所提出的控制方案能够驱动全向机器人实现由任意位置到目标位置的最短时间移动,验证了方案的可行性与合理性。

Minimum-time control for omni-directional mobile robots

This paper mainly focuses on the minimum-time control of omni-directional mobile robots.According to the placement of wheel train,the dynamics model of omni-directional mobile robot is simplified based on the characteristics of driving motors.By using the relaxation method to simplify the input space of motion model,state equation is decoupled,which reduces the computation complexity.Variable transformation is implemented according to the features of restraint space and boundary condition.The translated switching line of Bang-Bang control is proposed to achieve the suboptimal minimum-time control.The self-developed soccer robot is used for the simulation of motion control.The results demonstrate that the proposed control method can drive the robot precisely to reach its desired position from any initial location,and thus show the feasibility and rationality of method.