非完整机器人目标跟踪控制器的设计与实现

Design and Implementation of Target Tracking Controller for Non-holonomic Robot

为基于视觉定位与超声波测距的非完整履带式机器人设计一款快速稳定的目标跟踪控制器。根据机器人的实际参数和执行能力,对现有控制器的未知参数进行整定,使机器人能够平滑且渐进地到达理想位姿,并且在不增加控制器复杂度的基础上,通过先调整机器人航向角再缩短其与目标之间的距离,提高机器人执行能力。实验结果表明,该控制器能够驱动机器人快速平稳地跟踪目标。

This paper designs a fast and stable target tracking controller for non-holonomic crawler robots based on visual orientation and ultrasonic ranging.According to the actual parameters and execution ability of the robot,it designs an efficient parameters tuning strategy for the referenced controller,so that the robot can smoothly and gradually reach the ideal posture.On the premise of not increasing the complexity of the controller,the robot’s execution ability can be improved by adjusting the heading angle of the robot with high priority and shortening the distance between the robot and the target with lower priority.Experimental results show that the controller can drive the robot to track the target quickly and smoothly.