| 履带式移动机器人轨迹跟踪研究 |
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| 引用本文： | 康亮,赵春霞,郭剑辉.履带式移动机器人轨迹跟踪研究[J].计算机科学,2009,36(6):241-244. |
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| 作者姓名： | 康亮 赵春霞 郭剑辉 |
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| 作者单位： | 南京理工大学计算机与科学技术学院,南京,210094 |
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| 基金项目： | 国家高技术研究发展计划(863计划)，南京理工大学国防科技工业研究生创新基金 |
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| 摘 要： | 详细分析了履带式移动机器人的受力特点,提出了一种适宜进行控制器设计的履带移动机器人模型.根据履带式移动机器人动力学模型和运动学模型,设计了机器人的轨迹跟踪控制器.利用Lyapunov稳定判据证明控制器的全局稳定性.在控制器的设计中考虑了履带一地面作用,引入参数对其描述.考虑到机器人动力学约束,引入机器人速度、加速度控制策略以保证机器人运动平滑.仿真实验验证了该方法的有效性和全局收敛.
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| 关 键 词： | 履带式移动机器人 轨迹跟踪 动力学模型 |
| 收稿时间： | 2008/7/28 0:00:00 |
| 修稿时间： | 2008/10/19 0:00:00 |
Trajectory Tracking for Tracked Mobile Robot |
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| KANG Liang ZHAO Chun-xia GUO Jian-hui.Trajectory Tracking for Tracked Mobile Robot[J].Computer Science,2009,36(6):241-244. |
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| Authors: | KANG Liang ZHAO Chun-xia GUO Jian-hui |
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| Affiliation: | School of Computer Science;Nanjing University of Science and Technology;Nanjing 210094;China |
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| Abstract: | A kind of tracked mobile robot model that is suitable for the design of controller was proposed through analyzing the force characteristics of the tracked mobile robot.Based on the dynamic model and kinematic constraints of the tracked mobile robot,a trajectory tracking controller was designed.Stability of the rule was proved through the use of a Lyapunov function.Parameters were introduced to describe the track-soil interactions.Considering the dynamics of the mobile robot,the limited control strategy was ... |
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| Keywords: | Tracked mobile robot Trajectory tracking Dynamic model |
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