移动机器人运动轨迹控制算法研究

Research on motion trajectory control algorithm for mobile robot

为减少轮式移动机器人运动中相邻电机的耦合误差,提高整体运动的协调性和同步性,结合轮式机器人运动学模型,提出一种位置式PID反馈控制算法。根据轮式控制原理,在经典PID控制算法的基础上,引入级联反馈控制算法,对左右两轮的反馈增量进行修正,从而调整左右两轮电机转速。最后通过实验对上述算法进行验证,并与传统PID控制算法进行比较。实验结果表明,在对左右两轮控制方面,位置式PID控制算法更稳定。

In order to reduce the coupling error of adjacent motor wheeled mobile robot,improve the overall motion coordination and synchronization,based on robot kinematics model of wheel,put forward an incremental PID feedback control algorithm. Based on the principle of wheel control,a cascade feedback control algorithm is introduced in the classical PID control algorithm,and the feedback increment of the two wheels is modified to adjust the speed of the two wheel motor. Finally,the algorithm is verified by experiments,and compared with the traditional PID control algorithm. The experimental results show that the incremental PID control algorithm is more stable in the control of the left and right.