一种轮式机器人轨迹跟踪控制算法的研究

Research on Autonomous Navigation Algorithm for Wheeled Mobile Robot

针对轮式机器人轨迹跟踪控制问题,提出了一种轨迹跟踪控制算法。通过对轮式机器人进行运动学分析,建立了运动学模型来描述其在水平面内的运动规律;提出了轨迹跟踪控制算法,并对迹跟踪控制算法进行仿真试验,直线轨迹跟踪的纵向偏差0.09m,横向偏差0.06m,航向角偏差3.7°;曲线轨迹跟踪的纵向偏差0.13m,横向偏差0.09m,航向角偏差5.1°。仿真试验结果表明本研究所设计的轨迹跟踪控制算法具有良好的动态响应,可以支撑实际应用。

Aiming at the problem of autonomous navigation of tracked traction robot,an autonomous navigation algorithm was proposed.Based on the kinematics analysis of the traction robot,a kinematics model was established to describe its motion in the horizontal plane;An autonomous navigation algorithm is proposed,and the established kinematic model is used as the controlled object to simulate the autonomous navigation algorithm,Autonomous navigation on a straight path has a longitudinal deviation of 0.09m,lateral deviation of 0.06m,and a heading angle deviation of 3.7°;curved path autonomous navigation has a longitudinal deviation of 0.13m,a lateral deviation of 0.09m,and a heading angle of 5.1°.The simulation test results show that the autonomous navigation algorithm designed by this research has certain effectiveness and can meet the actual use requirements of the job.