无线网络环境下轮式机器人运动轨迹的跟踪与控制优化

Trajectory Tracking and Control Optimization of Wheeled Robot in Wireless Network Environment

随着工业自动化技术的不断进步,移动机器人技术已经逐渐地融入到了各种工业生产场合,以替代人类完成各种恶劣条件下的工作和任务。轮式机器人作为非完整系统的典型代表,在所有移动机器人当中是应用范围最广,可控性最强的一种,通常在无线网络环境下接受远端的实时控制,完成特定的任务。因此,借助无线网络,对其运动轨迹和移动模式进行研究,并提供行之有效的控制优化方法,成为了提高该类型机器人工作效率的重要途径。论文以轮式移动机器人为研究对象,建立了运动模型和基于误差调节的控制方法,并在此基础上引入了模型预测控制方法,成功地解决了无线网络时延对控制质量造成的影响,最后通过仿真实验验证该方法的有效性。

With the continuous development of industrial automation technology,mobile robot technology has been gradually integrated into a variety of industrial production occasions,in order to replace human beings to complete all kinds of harsh conditions of work and tasks. Wheeled robot,as a typical representative of nonholonomic systems,is one of the most widely used and controllable in all mobile robots which usually receives remote real-time control in a wireless network environment to accomplish a specific task. Therefore,it is an important way to improve the efficiency of the robot by using the wireless network to study its trajectory and moving mode,and to provide effective control optimization method. In this paper,the wheeled mobile robot is taken as the research object,the motion model and the control method based on error adjustment are established. On this basis,the model predictive control method is introduced,which successfully solves the influence of the wireless network delay on the control quality. Finally,the effectiveness of the method is verified by simulation experiments.