| 基于智能优化的移动机器人轨迹跟踪控制 |
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| 引用本文： | 曹有辉,王良曦. 基于智能优化的移动机器人轨迹跟踪控制[J]. 计算机工程与应用, 2010, 46(6): 221-223. DOI: 10.3778/j.issn.1002-8331.2010.06.064 |
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| 作者姓名： | 曹有辉 王良曦 |
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| 作者单位： | 装甲兵工程学院 机械工程系，北京 100072 |
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| 基金项目： | 装甲兵工程学院战略投资基金资助项目(No.2005ZB02) |
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| 摘 要： | 建立了机器人运动学模型，设计了基于Lyaponov稳定理论的轨迹跟踪控制器，该控制器的性能取决于其参数的大小。粒子群优化算法具有收敛速度快，需要调节的参数少等优点，但优化过程中容易发生“早熟”收敛，使优化陷入局部极小值。通过引入模拟退火算法、“交叉算子”和“变异算子”，提出了一种改进粒子群优化算法，对控制器的参数进行优化设计。最后，通过仿真计算，证明了该方法的有效性。
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| 关 键 词： | 移动机器人 轨迹跟踪 控制规律 改进粒子群算法 |
| 收稿时间： | 2008-08-28 |
| 修稿时间： | 2008-11-5 |
Tracking control of mobile robot based on intelligent optimization |
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| CAO You-hui,WANG Liang-xi. Tracking control of mobile robot based on intelligent optimization[J]. Computer Engineering and Applications, 2010, 46(6): 221-223. DOI: 10.3778/j.issn.1002-8331.2010.06.064 |
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| Authors: | CAO You-hui WANG Liang-xi |
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| Affiliation: | Department of Mechanical Engineering，Academy of Armored Force Engineering，Beijing 100072，China |
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| Abstract: | Kinematic model of mobile robot and controller based on Lyaponov steady theory are formed.This controller's performance is depend on its parameters.Particle Swarm Optimization(PSO) has the advantage of fast convergence speed and few parameters to adjust,but premature convergence often occurs during optimization.SA,"intercross operator"and "aberrance operator" are combined to improve PSO's performance,a new Improved Particle Swarm Optimization(IPSO) is formed to optimize the controller's parameters.At last,simulation results are provided to illustrate the flexibility and correctness of the controller. |
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| Keywords: | mobile robot tracking control control rule improved particle swarm optimization |
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