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| 加速度约束条件下的非完整移动机器人运动控制 | |
| 引用本文： | 曹洋,方帅,徐心和.加速度约束条件下的非完整移动机器人运动控制[J].控制与决策,2006,21(2):193-0196. |
| 作者姓名： | 曹洋 方帅 徐心和 |
| 作者单位： | 1. 中国科学技术大学,自动化系,合肥,230027 2. 合肥工业大学,计算机与信息学院,合肥,230009 3. 东北大学,信息科学与工程学院,沈阳,110004 |
| 摘 要： | 将移动机器人的运动规划与跟踪控制问题合并在一起，对加速度约束条件下的非完整移动机器人运动控制问题进行研究，提出基于贝塞尔曲线的路径规划方法，以满足机器人的非完整约束．在考虑所受加速度约束的条件下，通过规划机器人状态时问轨线的方法实现了时间最优的轨迹规划．基于控制李亚普诺夫函数推导出了轨迹跟踪的控制律．仿真实验结果表明所提出的算法是有效的． |
| 关 键 词： | 移动机器人 非完整约束 路径规划 轨迹规划 轨迹跟踪 |
| 文章编号： | 1001-0920（2006）02-0193-04 |
| 收稿时间： | 2004-12-31 |
| 修稿时间： | 2005-04-20 |
Motion Control of Nonholonomic Mobile Robot under Acceleration Constrains |
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| CAO Yang,FANG Shuai,XU Xin-he.Motion Control of Nonholonomic Mobile Robot under Acceleration Constrains[J].Control and Decision,2006,21(2):193-0196. | |
| Authors: | CAO Yang FANG Shuai XU Xin-he |
| Affiliation: | CAO Yang, FANG Shuai, XU Xin-he 2. School of Computer and Information, Hefei University of Technology, Hefei 230009, China; 3. College of Information Science and Engineering, Northeastern University, Shenyang 110004, China. |
| Abstract: | Motion control of nonholonomic mobile robot under acceleration limits is discussed.Motion planning and trajectory tracking are incorporated.The planned path is presented as Bezier curve that can be proved to satisfy the nonholonomic constrains.Under the acceleration constrains,the trajectory realized by planning the time law of robot's state is optimized in the sense of minimum time.Finally,the control law of trajectory tracking is presented based on a control Lyapunov function.The simulation results prove the effectiveness of the proposed methods. |
| Keywords: | Mobile robot Nonholonomic constrains Path planning Trajectory generation Trajectory tracking |
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