受限空间中轮式移动机器人的镇定

Stabilization of Nonholonomic Wheeled Mobile Robots in Limited Space

考虑到实际行驶中要受到道路的空间约束,针对一类四轮式移动机器人,提出一种基于两个正交速率控制的镇定算法.驱动机器人转向至朝路径方向前进,在笛卡儿空间的两个正交轴向上,当机器人与目标点坐标差小于设定阈值时,分别以幂律逐步减小机器人在两方向上的速度分量.道路仿真实验表明,在此控制律的作用下,机器人能在有限时间内实现平面的任意点一点镇定,所得控制器不仅设计简单、收敛速度快,而且能应用在受限空间,具有一定的普遍性。

This paper addresses the posture stabilization problem in limited space for nonholonomic Wheeled Mobile Robots （WMRs）. Inspired by human driving, a new algorithm is introduced based on the control of the two velocity components along x and y axes in Cartesian space. We turn the robot until it runs in the direction of the ground road; when the distance criterion is met, we slow down the corresponding velocity component in power form. The two velocity components are controlled respectively. Simulation results on narrow roads showed that, the trajectories converged to the expected posture in finite time starting from any point with this control algorithm. Furthermore, the length of trajectory was shorter than that of other schemes. So the proposed algorithm is more suitable for limited space applications.