摘要
基于两轮差动驱动的移动机器人,设计了一种路径跟踪控制系统。系统采用临时路径生成方法,通过规划移动机器人跟踪上期望路径前的轨迹,消除初始位置误差和方向误差,解决了移动机器人直接跟踪期望路径时控制量可能过载的问题,使机器人光滑趋近到期望路径。控制器的设计采用模糊控制器。试验验证了系统的有效性。
Based on two turns of differential motion actuationsmotion robot, has designed one kind of path following control system. By planning migration robot before getting to the expecting path, designing one temporary path production method, eliminating the initial position error and lateral error, solving the overload question of the Control quantity, then the robot could smoothly reach the expecting path. The controller designing uses the fuzzy controller. The final test has confirmed the system validity.
出处
《机电一体化》
2008年第6期48-51,共4页
Mechatronics
