摘要
针对轮式移动机器人在实际运行中受环境因数影响,采用扩展卡尔曼滤波(EKF)算法融合里程计与激光雷达的观测数据,对机器人的参考轨迹信息进行校正,并与离散卡尔曼滤波进行比较。在机器人动力学模型的基础上,运用Lyapunov直接法,构造具有全局渐近稳定的轨迹跟踪控制器,控制机器人运动的角w速度,v,使机器人的位姿状态达到要求。根据Lyapunov稳定性定理证明了系统的全局稳定性。仿真及实验验证表明,卡尔曼滤波算法对机器人的定位数据滤波与Lyapunov方法结合的轨迹跟踪控制器效果良好。
According to the wheeled mobile robots are influenced by the environmental factor in practice.Using the extended Kalman filter （EKF） algorithm fusion odometry and laser radar observation data,correction information of the reference trajectory of the robot.Comparison with the discrete Kalman filter.Based on the robot dynamic model,using the Lyapunov direct method to construct a globally asymptotically stable tracking controller,control the robot movement of the angular velocity,speed,met the requirement of the state of the robot＇s posture.Based on Lyapunov stability theorem to prove the global stability of the system.Simulation results and experimental verification show that the tracking controller,which combined with（EKF） data filtering algorithm and Lyapunov method is effective.
出处
《机械设计与制造》
北大核心
2014年第3期100-102,106,共4页
Machinery Design & Manufacture
基金
国家自然科学基金中国工程物理研究院联合基金(NSAF:11176027.)
