摘要
本文首先介绍了移动机器人的基本硬件组成 ,然后模仿人工预瞄驾驶行为 ,提出了一种移动机器人路径跟踪的智能预瞄控制方法 ,并介绍了智能预瞄控制器的原理、结构及其设计过程 .试验表明 :本文提出的控制方法可保证机器人准确地沿各种参考路径行走 ,且具有良好的鲁棒性 .具有运动避障功能的移动机器人控制系统正在研究过程中 .
In this paper, the setup of the mobile robot was first described. By imitating the preview driving behavior of human, an effective intelligent preview control method for mobile robot road following was developed. The operating principle, construction and the design process of the controller were also described. The test results show that the mobile robot controlled by the proposed approach can follow various reference paths accurately and robustly. A complete mobile robot control system with the function of obstacle avoidance will be developed in the subsequent research.
出处
《机器人》
EI
CSCD
北大核心
2002年第3期252-255,共4页
Robot
基金
浙江省自然科学基金 (60 0 0 2 5 )
国家自然科学基金 (60 10 5 0 0 3 )
浙江省综合信息网重点实验室资助
