摘要
文章讨论了受非完整约束限制的两轮差动驱动机器人的路径跟踪问题,研究移动机器人在一个运动周期内的轨迹,找出该周期内机器人起点坐标和终点坐标之间的联系,推导出一种新模型;针对机器人跟踪任意期望几何路径,提出了斜率算法;对于期望路径是圆弧的特例,提出曲率半径算法,进一步提高跟踪速度平稳性和跟踪精度。
The path-following problem is discussed for two-wheeled differential drive robot with non-holonomic constraints.By studying the trajectory of robot in a motion period and finding out the relationship between starting coordinate and end coordinate of robot,a new model is put forward.The slope algorithm is proposed for the arbitrary geometric path of robot.For the special case of arc path,curvature radius algorithm is proposed to further improve speed smoothness and tracking accuracy.
出处
《合肥工业大学学报（自然科学版）》
CAS
CSCD
北大核心
2010年第9期1315-1319,共5页
Journal of Hefei University of Technology：Natural Science
基金
安徽省教育厅自然科学研究基金资助项目(KJ2007B150)
关键词
路径跟踪
运动周期
曲率
两轮差动驱动机器人
非完整系统
path following
motion period
curvature
two-wheeled differential drive robot
non-holonomic system
