轮式机器人航向定位的控制策略

Control strategy for orientation and positioning of wheeled mobile robots

本文针对非完全约束移动机器人的航向定位问题提出了一种稳定的切换控制策略,针对定位问题提出了定位导向切换控制器,该策略避免了机器人反向运动,使其总是向目标点进行避障运动;实验结果显示,该策略是可行的,并具有良好的性能。

This paper presents a stable switching control strategy for the orientation and positioning problem of non- holonomic mobile robots. It is proposed a positioning-orientation switching controller for the positioning problem. With this strategy robot backwards motions are avoided and the robot heading is always in the direction of the goal point facilitating the obstacle handling. The good performance and the feasibility of this approach are shown through experimental results.