轮式移动机器人综合位姿误差控制优化仿真

Optimization Simulation of Integrated Pose Error Control for Wheeled Mobile Robots

现有的机器人综合位姿误差控制优化方法存在机器人位姿定位的累积误差高、定位不准确等问题。针对上述问题,提出了一种轮式移动机器人综合位姿误差控制优化方法。利用轮式移动机器人的运动学反解模型,对误差传递矩阵进行求解,根据求解结果对轮式移动机器人主要误差源与其位姿间的关系进行分析,根据其分析结果构建轮式移动机器人的位姿误差模型。将交叉算子带入到粒子群优化算法中,对其进行自适应惯性权重与交叉概率参数控制,可以有效地维持粒子个体与最优解间的信息互换,提高轮式移动机器人最优关节补偿值搜索收敛速度和控制稳定性。实验结果证明,所提方法与传统控制方法相比,位姿定位误差值较低、误差控制优化效果较好。

Due to high cumulative error and inaccurate positioning of robot pose, this article presented a method to optimize and control the compositive pose error of wheeled mobile robot. At first, the kinematics inverse solution model of wheeled mobile robot was used to solve the error transfer matrix. According to the solution result, the relationship between the main error source of wheeled mobile robot and its pose was analyzed. According to the analysis result, the pose error of wheeled mobile robot was constructed. In addition, the crossover operator was introduced into the particle swarm optimization algorithm, so that the adaptive inertia weight and crossover probability parameters was used to control it, the information exchange between the individual particle and the optimal solution could be effectively maintained. Thus, the convergence speed and control stability of the optimal joint compensation value of wheeled mobile robot was improved. Simulation results show that, compared with the traditional control method, the proposed method has lower error of pose determination and better optimization effect of error control.