一种移动机器人自适应轨迹跟踪控制算法研究

Adaptive Trajectory Tracking Control Method of Mobile Robot

针对轮式移动机器人的轨迹跟踪问题,提出了一种基于运动学模型的自适应轨迹跟踪控制算法。在分析经典轨迹跟踪控制律缺点的基础上,算法中引入了机器人位姿误差的纵坐标误差以加速机器人的轨迹逼近速度,并采用人工场和位姿误差协同作用来共同完成机器人的导向控制。该控制律结构简单,鲁棒性强。仿真实验表明该方法使移动机器人具有更理想的逼近轨迹。

Aiming at solving the problem of trajectory tracking of the wheeled mobile robot, an adaptive trajectory tracking method was proposed based on the kinematics model. After analyzing the shortage of classical trajectory tracking control rule, the ordinate error of error posture of the robot was introduced in the method to fasten the approaching speed of tracking, as well as an artificial field was combined with error posture to navigate the mobile robot. The structure of the control rule is simple and robust. Computer simulations indicate the method makes the approaching trajectory of the mobile robot becomes more perfect.