关于轮式机器人路径规划控制仿真

The Simulation of Wheeled Robot Path Planning Control

在机器人路径优化控制的研究中,轮式机器人路径规划控制是使轮式机器人按照期望的路线到达目标点。由于轮式机器人路径具有随机干扰,路径规划控制研究的难度较大。针对传统路径规划算法抗干扰能力差,准确性不高等问题,提出了基于预测控制的路径规划算法。以轮式机器人离散状态空间运动学方程为模型,利用约束预测控制算法设计控制器,使轮式机器人能按照期望的轨迹不断的接近设定好的目标点,与其它算法对比,预测控制算法路径规划的效果更好。仿真结果充分证明了预测控制方法运用于轮式机器人路径规划控制的有效性,体现了更好的抗干扰性和更高的准确性。

Wheeled robot path planning control is the route to wheeled robot as expected to arrive at the target point.Wheeled robot path planning algorithm is one of the difficulties in the current path planning control research.Against the problem of traditional path planning algorithm like poor anti-interference ability and bad accuracy,path planning algorithm based on predictive control is proposed.Using the discrete state space equation model of wheeled robot,designs a predictive controller where the constrained predictive control algorithm is used.Making the wheeled robot close to the target point along the desired trajectory.Compared with other algorithms at the same time with the same interference,the effect of predictive control algorithm for path planning is better.The simulation results prove the effectiveness of using the predictive control applied to the wheeled robot path control.,reflects better anti-interference and higher accuracy.