考虑运动受限的履带式移动机器人轨迹跟踪控制

Trajectory Tracking Control for Tracked Mobile Robot with Moving Limitation

针对履带式移动机器人的轨迹跟踪控制问题进行研究,首先,建立了履带式移动机器人的运动学模型和跟踪误差模型;其次,设计了转速有限时间控制和线速度滑模控制的轨迹跟踪控制律,并给出了考虑运动受限作用下的控制律修正表达式;最后,基于MATLAB对所提控制律进行仿真,对比分析了不考虑运动受限情况下跟踪控制效果;结果表明,设计的跟踪控制律能够实现履带式移动机器人对圆轨迹的有效跟踪,且考虑运动受限作用的控制律更加符合实际;文章研究分析了运动受限作用对于移动机器人轨迹跟踪控制的影响,分析结果对其他移动机器人的运动控制研究具有参考价值。

To solve the trajectory tracking control problem of tracked mobile robots, firstly, the kinematic model and error model were established. Secondly, a finite--time controller of turning velocity and a sliding model controller of longitudinal velocity were designed for trajectory tracking, and the moving limitation expressions was given as well. Finally, based on Matlab, the simulation comparison results of the designed controllers with moving limitation and without moving limitation were analyzed. And the results show that the designed control- ler can track the reference circle trajectory effectively, and the controller with moving limitation is closer to fact. The paper studies and analy- zes the influence of moving limitation on the trajectory tracking control of a mobile robot, and the analysis results have reference value for the motion control of other mobile robots.