摘要
针对轮式滑动转向移动机器人(WSMR)航向跟踪困难的问题,提出了基于神经网络训练的速度控制航向跟踪算法.介绍滑动转向原理并建立模型,采用虚拟样机仿真软件ADAMS构建WSMR虚拟样机.结合Matlab采用提出的算法对样机航向跟踪进行动态仿真.可视化的三维仿真结果表明,该算法可有效地实现航向跟踪.
As heading following in wheeled skid-steer mobile robots(WSMR) is difficult to implement, an algorithm based on neural network speed control is presented in this paper. Dynamic modeling and theory for wheeled skid-steer are first introduced. Then, its parameterized model is built up by ADAMS. A co-simulation is then performed using ADAMS and Matlab. Dynamic, graphic display of simulation results shows that the control strategy can realize an efficient control of the WSMR.
出处
《北京理工大学学报》
EI
CAS
CSCD
北大核心
2004年第8期663-666,共4页
Transactions of Beijing Institute of Technology
基金
国家部委预研项目(40404070302)
