摘要
针对小型履带式移动机器人,设计了遥控与自主返航模式相结合的控制体系结构,并对机器人自主定位及路径跟踪技术进行重点介绍;信号正常的情况下,机器人在遥控模式下工作,信号中断后,启动自主返航模式,机器人根据路径规划的轨迹行驶到目标点;自主返航模式下,采用传感器信息融合技术提高了机器人定位精度,基于已有路径进行点跟踪控制,设计机器人跟踪控制律;基于履带式移动机器人平台及所述控制系统,对任意给定路径进行跟踪实验;结果表明,机器人可沿给定路径到达终点,且行驶轨迹光滑,验证了定位方法的精度以及跟踪控制律的有效性。该控制系统设计简单,可移植性高,可广泛应用于地面移动机器人领域。
A control system of remote mode and autonomous return mode was established for small miniature tracked mobile robot, and the autonomous locating and path following technology is particularly introduced in this paper. The robot is remote in common condition, but if the control signals are interrupted, the robot will start the autonomous return mode and come back following the planned track. In the au tonomous return mode, the location accuracy is improved by multi sensor data fusion method. The path following control rate is designed for some given path track. A path following experiment was done based on a miniature tracked mobile platform, and the results showed that the robot could reach the goal position, and the actual track was smooth. These results confirmed the accuracy of this autonomous location method and path following controlling rate. This control system is simple and of high portability, and it can be used widely on the mobile ro- bot field.
出处
《计算机测量与控制》
2015年第8期2716-2718,共3页
Computer Measurement &Control
基金
北京理工大学基础研究基金(20130242015)
