一种有效的非完整移动机器人路径跟踪方法

A Efficient Method for the Path Tracking Control of Wheeled Mobile Robots Subject to Non-holonomic Constraints

路径跟踪问题是移动机器人运动控制的一个重要研究内容。对于非完整约束的差速驱动轮式机器人,提出一种新型的路径跟踪算法,通过给定路径模拟出虚拟机器人,即将路径上点的位置信息,朝向信息及曲率信息全部体现到虚拟机器人的位姿、速度和角速度上,机器人通过对虚拟机器人的跟随,实现对给定路径的跟踪。仿真和实验表明,不仅可实现直线和圆常规路径的跟踪,也可实现任意复杂曲线的跟踪,以及实际环境中路径的跟踪,证明了该路径跟踪算法的有效性。

The problem of path tracking is an important aspect of motion control of the wheeled mobile robots. This paper presents an new method, which is to imitate an virtual robot by using the information from the given path, for the path traeking control of differentially steered wheeled mobile robots subject to non - holonomic constraints, and the position,gesture, velocity and angular velocity of the virtual robot stem from the points, orientations and curvatures of the given path. It is proved that this algorithm is efficient by simulations and experiments, and it can track not only the paths of common straight lines ,but also of any complex curves and lines in actual environments.