首页 | 本学科首页   官方微博 | 高级检索  
     

基于行为动力学方法的移动机器人轨迹追踪
引用本文:谢敬,傅卫平,杨静. 基于行为动力学方法的移动机器人轨迹追踪[J]. 计算机工程与应用, 2010, 46(11): 240-242. DOI: 10.3778/j.issn.1002-8331.2010.11.073
作者姓名:谢敬  傅卫平  杨静
作者单位:西安理工大学机械与精密仪器工程学院,西安,710048
基金项目:国家自然科学基金No.10872160~~
摘    要:研究了基于行为动力学方法的移动机器人轨迹追踪。在总结行为动力学理论的基础上,根据轨迹追踪任务要求,确定航向角和速度作为行为变量,同时构建了接近吸引子动力学方程,并在考虑机器人与路径期望点之间距离这一间接耦合参数基础上,建立了速度动力学方程,并分析了该动力系统的收敛性。最后的仿真结果表明该方法正确、可行,且机器人能有效地完成追踪任务。

关 键 词:行为动力学方法  移动机器人  轨迹追踪
收稿时间:2008-10-06
修稿时间:2009-3-3 

Trajectory tracking of mobile robots based on dynamics of behavior
XIE Jing,FU Wei-ping,YANG JingFaculty of Mechanical , Precision Instrument Engineering,Xi'an University of Technology,Xi'an ,China. Trajectory tracking of mobile robots based on dynamics of behavior[J]. Computer Engineering and Applications, 2010, 46(11): 240-242. DOI: 10.3778/j.issn.1002-8331.2010.11.073
Authors:XIE Jing  FU Wei-ping  YANG JingFaculty of Mechanical    Precision Instrument Engineering  Xi'an University of Technology  Xi'an   China
Affiliation:XIE Jing,FU Wei-ping,YANG JingFaculty of Mechanical , Precision Instrument Engineering,Xi'an University of Technology,Xi'an 710048,China
Abstract:Trajectory tracking of wheeled mobile robots is studied based on dynamics of behavior.The robot's heading direction and velocity are specified as behavioral variables.The tracking attractor dynamic equation and approaching attractor dynamic equation are constructed.The relative distance between the robot and a desired point in a tracked trajectory is integrated into velocity attractor equations as an indirect coupled parameter.The convergence of the dynamical systems is analyzed.At last,the simulation resul...
Keywords:dynamics of behavior  mobile robots  trajectory tracking
本文献已被 CNKI 维普 万方数据 等数据库收录!
点击此处可从《计算机工程与应用》浏览原始摘要信息
点击此处可从《计算机工程与应用》下载免费的PDF全文
设为首页 | 免责声明 | 关于勤云 | 加入收藏

Copyright©北京勤云科技发展有限公司  京ICP备09084417号