一种位-姿交替控制的机器人路径跟踪方法

Robot Path Following Method Using Position-orientation Alternate Control

建立了非完整移动机器人的离散化运动学模型。根据机器人位姿定位问题的描述,设计了基于人工驾驶思想的路径跟踪模糊控制器。针对机器人相对于位姿目标点的方向误差和姿态误差之间的耦合矛盾,提出一种位-姿交替控制的路径跟踪方法。当存在较大位置误差时进行位置控制以实现快速跟踪,当位置误差较小时进行姿态控制,两者根据误差的大小交替进行。仿真结果表明了该模糊控制器的有效性和对路径跟踪的快速性。

Kinematics model for a nonholonomic mobile robot was introduced and dispersed. According to the description of robot oriented positioning control, a novel path tracking fuzzy controller based on the thinking of artificial driving was designed. As the robot＇s position error and orientation error relative to oriented goal point were hardly coupled, so a positionorientation alternate control method was proposed. When position error was bigger, a position controller was used to achieve the fast track, or if the error was smaller, a posture controller was used. The two kinds of controllers took in turns according to the degree ofposition error. Computer simulation results illustrate the effectiveness of the proposed method.