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带拖车移动机器人全局路径跟踪控制 被引量：4

Global path following control of tractor-trailer mobile robot
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摘要 研究带拖车移动机器人的前向路径跟踪控制和倒车路径跟踪控制问题.首先建立系统的运动学模型,并进行系统的运动特性分析;然后基于Lyapunov方法提出一种新的单体移动机器人全局路径跟踪控制器,并将其引入带拖车移动机器人的前向路径跟踪控制;再后通过运动学变换,实现了拖挂任意节拖车的系统的倒车路径跟踪控制;最后针对三车体系统的两种路径跟踪控制进行仿真,结果表明了该方法的有效性. The forward and backward path following control for tractor-trailer mobile robot （TTMR） are investigated. First, the kinematic model of the system pulling N trailers is established and its characteristics are analyzed. Then, by using Lyapunov method, a global path following controller for single-body mobile robot is designed and extended into the forward path following control for the TTMR. After that, based on the above controller, a novel approach to the backward path following control for the TTMR is proposed by the transformation of its kinematics. Finally, simulations for three-body TTMR are presented, and the results show the effectiveness of the approach.
作者 苑晶 黄亚楼 孙凤池
机构地区 南开大学信息技术科学学院 南开大学软件学院
出处 《控制与决策》 EI CSCD 北大核心 2007年第10期1119-1124,共6页 Control and Decision
基金 国家自然科学基金项目(60175030)
关键词 带拖车移动机器人 全局路径跟踪控制 前向运动 倒车运动 Tractor-trailer mobile robot Global path following control Forward motion Backward motion
分类号 TP24 [自动化与计算机技术—检测技术与自动化装置]
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参考文献12

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同被引文献35

  • 1孙多青,霍伟,杨枭.含模型不确定性移动机器人路径跟踪的分层模糊控制[J].控制理论与应用,2004,21(4):489-494. 被引量：17
  • 2马保离,霍伟.移动小车的路径跟踪与镇定[J].机器人,1995,17(6):358-362. 被引量：22
  • 3汤亚锋,韦庆.非完整移动机器人的反步跟踪控制方法[J].计算机仿真,2007,24(7):168-170. 被引量：5
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  • 6Huo Wei, Zuan Cheng. Backward Path - following control of mobile robots with trailers[C]. Proceedings of 25th Chinese Control Conference, 2006. 1573 - 1578.
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  • 8T Shibata and T Fukuda. Hiemchical Intelligent Control for Robotic Motion[ C ]. IEEE Trans. on Neural Network, 1994,5 ( 5 ) :823.
  • 9H Seki, S Gao, Qin Zhang. Trajectory Generation of Wheeled Mo- bile Robot by Repeatedly Direct Kinematics [ J ]. Journal of The Ja- pan Society for Precision Engineering, 2005,71 (4) :506 -511.
  • 10ANTONELLI G, CHIAVERINI S. A fuzzy-logic-based approach for mobile robot path tracking [J]. IEEE Transactions on Fuzzy Systems, 2007, 15(2): 211 - 221.

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控制与决策
2007年 第10期

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