基于航向示教再现的履带式移动机器人路径跟踪

本文阐述了一种基于航向示教再现的履带式移动机器人路径跟踪控制方法，人工示教时，从示教路径起点致终点，每隔一定距离记录移动机器人航向形成示教文件，再现控制复现了示教文件记录的航向与里程的航迹推算函数关系。实验结果表明，这种方法与有限的遥控干预相结合，仅用电子罗盘和里程计两种设备可简单，有效地实现移动机器人的路径跟踪。结合实验结果，对利用该方法进行路径跟踪的误差形成原因及其消除方法进行了分析。

HEADING TEACHING-PLAYBACK BASED PATH FOLLOWING CONTROL FOR A TRACKED MOBILE ROBOT

A heading teaching playback based path following control method with the least devices for tracked mobile robot is presented. In the teaching process, the heading of the robot is recorded and held in the teaching file for each fixed distance. They are then used as the desired heading in the heading playback controller. The navigational principle of the method is dead reckoning. Experimental results show that, combined with limited telecontrol interference, it can fulfill the path following task simply and effectively. Moreover, according to the experimental results, the cause of the following error is analyzed and some ways to overcome them are given.