| 轮式移动机器人轨迹跟踪的最优控制 |
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| 引用本文： | 王仲民,岳宏,李充宁,刘继岩.轮式移动机器人轨迹跟踪的最优控制[J].机械科学与技术(西安),2006,25(1):21-23. |
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| 作者姓名： | 王仲民 岳宏 李充宁 刘继岩 |
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| 作者单位： | [1]河北工业大学机器人及自动化研究所,天津300130 [2]天津工程师范学院机械工程系,天津300222 [3]中国科学院沈阳自动化所机器人学重点实验室,沈阳110015 |
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| 基金项目： | 中国科学院重点实验室基金 |
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| 摘 要： | 深入分析了轮式移动机器人的运动状态,建立了WMR路径偏差系统的非线性数学模型。应用小偏差线性化理论,将该多输入多输出非线性系统简化成一个单输入单输出线性系统。然后基于线性二次型调节器理论进行了系统最优控制器的设计,并针对该理论中加权矩阵Q与R难以确定的问题,从控制效果出发,采用自适应遗传算法对其进行了优化。实现了移动机器人对预定轨迹的满意鲁棒跟踪,同时满足了实时性要求。实验结果证明了该方法的正确性与实用性。
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| 关 键 词： | 轮式移动机器人 线性二次型调节器 最优控制 自适应遗传算法 |
| 文章编号： | 1003-8728（2006）01-0021-03 |
| 收稿时间： | 2004-12-01 |
| 修稿时间： | 2004-12-01 |
Optimal Control of Wheeled Mobile Robot Trajectory Tracking |
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| Wang Zhongmin,Yue Hong,Li Chongning,Liu Jiyan.Optimal Control of Wheeled Mobile Robot Trajectory Tracking[J].Mechanical Science and Technology,2006,25(1):21-23. |
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| Authors: | Wang Zhongmin Yue Hong Li Chongning Liu Jiyan |
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| Affiliation: | 1. Institute of Robotic and Automation, Hebei University of Technology, Tianjin 300130 ; 2. Department of Mechanical Engineering, Tianjin University of Technology and Education, Tianjin 300222; 3 .Robotics Laboratory, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110015 |
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| Abstract: | Firstly,a wheeled mobile robot′s(WMR) motion states are analyzed,and then its path deviation system′s nonlinear mathematic model is established,on the basis of which,by using small deviation linearization theory,a nonlinear multi-input and multi-output system is simplified into a linear single-input and single-output one.Secondly,an optimal control system is designed on a linear quadratic regulator(LQR) basis.Because it is difficult to determine the weighted matrix Q and R,an adaptive genetic algorithm for optimizing the LQR is adopted to control it effectively.In this way the WMR realizes satisfactory robust tracking to the pre-determined trajectory and meets real-time demands at the same time.Finally experimental results show the correctness and validity of this method. |
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| Keywords: | wheeled mobile robot inear quadratic regulator optimal control adaptive genetic algorithm |
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