摘要
针对通过无线通信信道远程操控自主机器人的问题,以轮式移动机器人为研究对象进行了运动学分析并建立运动学模型,提出并实现了用触发条件调整跟踪误差的自触发策略,以实现较好的跟踪性能和减少网络信息传输。最后以P3-DX移动机器人为平台,对该方法进行了的仿真实验验证,结果证实,与非自适应自触发方法相比,在网络信息传输量减少的情况下,跟踪性能几乎没有降低。
In this paper,aiming at the problem of remote manipulating autonomous robots through wireless communicationchannel,the kinematic analysis and kinematic model of the wheeled mobile robots are proposed,and a self-triggering strategyto adjust the tracking error by triggering condition is proposed and realized to achieve better tracking performance and reducenetwork information transmission. Finally,the simulation results of P3-DX mobile robot show that the tracking performance isalmost the same with the non-adaptive self-triggering method when the network information transmission is reduced.
出处
《机械研究与应用》
2016年第6期26-29,34,共5页
Mechanical Research & Application
基金
2014年天水市科技支撑计划项目(第一批)财政专项资金:群体智能机器人协调控制系统(编号:2014-09)
