非完整移动机器人鲁棒控制方法研究

Robust Controller Research of Nonholonomic Mobile Robot

针对基于单目视觉的双轮差速移动机器人检测环境目标信息的误差大、波动频繁、有限视角约束且受非完整性约束特点,研究了避障与轨迹跟踪控制器的设计问题。首先基于李亚普诺夫稳定理论,设计了双轮差速移动机器人的圆弧轨迹控制器,并证明了控制器的稳定性。引入动态变化的参考角度以调节控制器因子,解决了系统受视觉传感器有限的视野范围约束及机器人运动轨迹优化问题。通过跟踪圆心沿多边形边界连续移动的圆弧轨迹,实现机器人避开多边形障碍物。仿真和实际机器人实验证明了所提出方法的有效性。

An obstacle avoidance and circle trajectory following controller is proposed for differential driving nonholonomic robot with inaccurate insatiable limited feedback information from monocular pan-tih camera. Firstly,an elementary circle trajectory following controller to solving the stability problem of the system. based on the Lyapunov theory is desig, ned, Secondly, a variable guided-angle solving the view angle limitation polygonal obstacles are avoided by tracking circle trajectory whose centers are varied according to polygon using the proposed controller. Finally, the controller＇ s validity and robustness is proved by the simulation and real robot experiment.