摘要
本文提出了一种轮式移动机器人航向跟踪预估控制算法 ,航向预估量根据机器人前轮偏角和纵向速度实时得出 ,预估量与机器人实际航向之和作为控制反馈航向 .仿真和实验时用 PID控制器和航向预估算法结合进行航向跟踪 ,结果表明该算法与常规 PID算法相比 ,对机器人纵向速度适应范围较宽 ,能有效地改善控制器的动态特性 ,表现出了较好的自适应能力 .
A heading prediction control algorithm for wheeled mobile robot is presented in this paper. Heading prediction can be obtained from steering angle and velocity of the robot in real time, and also summed with measured heading of the robot to be used for controlling the feedback heading. In heading control simulation and experiments, a PID controller with heading prediction is tested. Compared with regular control method it can adapt wider velocity range and obviously improve dynamic characteristics of the controller.
出处
《机器人》
EI
CSCD
北大核心
2001年第3期193-196,279,共5页
Robot
