非时间参考的移动机器人路径跟踪控制

基于非时间参考的思想提出了一种移动机器人路径跟踪控制方法.首先选择移动机器人实际路径在某参考系下的x轴投影作为非时间参考量,并针对一类几何路径的跟踪建立移动机器人非时间参考的运动学模型,据此设计以恒定速度跟踪期望路径的控制律,然后在此基础上给出跟踪任意几何路径的分段控制策略.此跟踪控制系统所采用的参考量为非时间量􀁯,摆脱了时间因素的影响,因此能提高移动机器人在不确定环境中的跟踪能力.仿真和物理实验表明了控制方法的有效性.􀁱

Non-time Based Path Tracking Control for Mobile Robots

In this paper a non-time based approach is proposed for a mobile robot to track paths. Firstly the x-axis projection of the mobile robot's actual path in some reference frame is selected as the non-time reference based on which for a kind of geometric paths the kinematics model of the mobile robot is built and the corresponding tracking control law with constant velocity is designed, then the strategy of tracking any geometric path is presented. Since the tracking system is based on the non-time reference and is immune to the time factor, its tracking capability in the uncertain environment can be improved. Simulation and experiment results are given to demonstrate the effectiveness of proposed method.