机器人战术靶示教路径采样和跟踪控制

针对机器人战术靶在实际战术演练中需实现任意路径的跟踪控制，提出一种示教路径采样和跟踪控制策略。基于2 种示教分别制定路径点采样策略，其中：在线示教人工远程操作机器人战术靶行走，构建基于行驶距离和转弯半径的路径点采样策略；离线示教通过上位机在地图文件上编辑定义一系列离散的路径点来完成示教路径的绘制。路径再现阶段读取之前存储的示教路径，采用节点跟踪切换控制策略、速度分段控制策略、基于航向和偏距组合误差的方向控制策略来控制机器人对路径的跟踪。在物理样机上对算法进行验证，结果表明：机器人战术靶可很好地对任意复杂示教路径进行跟踪，其中路径跟踪偏差小于0.3 m，各路径点到点跟踪速度偏差小于5%。

Teaching Path Sampling and Tracking Control of Robot Tactics Target

In order to realize the tracking control of arbitrary path in the actual tactical exercise of robot tactical target,a strategy of teaching path sampling and tracking control is proposed. The path point sampling strategy is established basedon the 2 teaching methods, in which the path point sampling strategy based on the driving distance and turning radius isestablished for the online teaching of manual remote operation of robot tactical target walking, and the teaching path isdrawn by editing and defining a series of discrete path points on the map file through the host computer for offline teaching.In the path reproduction stage, the taught path stored before is read, and the path tracking of the robot is controlled by usinga node tracking switching control strategy, a speed segmentation control strategy and a direction control strategy based on aheading and offset combined error. The algorithm is verified on the physical prototype, and the results show that the robottactical target can track any complex teaching path well, in which the path tracking deviation is less than 0.3 m, and thepoint-to-point tracking speed deviation of each path is less than 5%.