基于光学动作捕捉的室内移动机器人轨迹跟踪

以基于麦克纳姆轮的全向移动机器人为研究对象，首先对基于标记点的光学动作捕捉系统的定位原理进行研究，然后对移动机器人的驱动原理和位姿误差进行分析，建立运动学模型和位姿误差模型，通过反演法设计虚拟反馈，并结合李雅普诺夫函数构造出具有全局渐近稳定的轨迹跟踪控制器。接着对测试环境和试验样机进行搭建，将光学动作捕捉系统采集的位姿信息反馈到机器人的控制回路中，最后对直线和圆周轨迹进行跟踪仿真。通过在试验样机上实验验证，总结出利用光学动作捕捉系统对移动机器人采集的定位信息，可令移动机器人拥有良好的轨迹跟踪性能。

Design of Trajectory Tracking System for Indoor Omnidirectional Mobile Robot

Taking the omnidirectional mobile robot based on Mecanum wheels as the research object, the positioning principle of the optical motion capture system based on Mark is studied first, then the driving principle and pose error of the mobile robot are analyzed, and the kinematics model and pose error model are established. Backstepping method is used to design virtual feedback, and combined with Lyapunov function, a trajectory tracking controller with global asymptotic stability is constructed.Then the test environment and test prototype are setted up to feed back the posture information collected by the optical motion capture system,And put the information in the control loop of the robot.At last,the linear and circular trajectories are tracked and simulated. At the same time, the experimental prototype is tested and verified. The positioning information collected by the mobile robot using the optical motion capture system is summarized to make the mobile robot have good trajectory tracking performance.