不平路面全方位移动机器人智能控制技术的研究

Research on the intelligent control technology of the uneven road omni-directional mobile robot

对于不平路面全方位移动机器人,其运动过程时变和突变控制问题一直困扰着研究人员.本文利用自适应控制技术精度高、可拓控制技术反应速度快,将其二者结合起来,对不平路面三轮式全方位移动机器人进行自适应可拓智能控制.通过研究首先构建了三轮式全方位移动机器人运动学和动力学模型,构建了一种自适应可拓智能控制方法,对自适应可拓智能控制器进行了设计,并进行了实验研究.实验结果表明,三轮式全方位移动机器人采用自适应可拓智能控制技术与自适应控制技术相比,具有控制精度高、反应速度快、自组织和自学习能力强的特点,能较好地满足不平路面三轮式全方位移动机器人运动要求.

For the omni-directional mobile robot on uneven pavement, its variants and mutations movement control have been puzzling the researchers. An adaptive extension intelligent control technology, which combines the high precision of the adaptive control technology, fast reaction rate of the extension control technology, is used to study the three wheeled omni-directional mobile robot on uneven pavement in this paper. Through the research, the three wheeled omni-directional mobile robot＇s kinematics and dynamics model have been constructed firstly. Then a kind of adaptive extension intelligent control method has been built. At last the adaptive extension intelligent controller has been designed and the experimental results have been given accordingly. The experimental results show that the three wheeled omni-directional mobile robot which has the ability of high precision, fast reaction rate, self-organizing and self-learning using adaptive extension intelligent control technology is better than using adaptive control technology. This technology can meet the requirements of three wheeled omni-directional mobile robot.