| 基于行为动力学方法的移动机器人轨迹追踪 |
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| 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 |
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| 作者姓名： | 谢敬 傅卫平 杨静 |
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| 作者单位： | 西安理工大学机械与精密仪器工程学院,西安,710048 |
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| 基金项目： | 国家自然科学基金No.10872160~~ |
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| 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。
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| 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 |
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| 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 |
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| Authors: | XIE Jing FU Wei-ping YANG JingFaculty of Mechanical Precision Instrument Engineering Xi'an University of Technology Xi'an China |
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| Affiliation: | XIE Jing,FU Wei-ping,YANG JingFaculty of Mechanical , Precision Instrument Engineering,Xi'an University of Technology,Xi'an 710048,China |
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| 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... |
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| Keywords: | dynamics of behavior mobile robots trajectory tracking |
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