摘要
为了实现轮式移动机器人的自动行驶,建立了轮式移动机器人的路径跟踪控制模型。针对轮式移动机器人具有非完整约束的特点,利用Kane方程建立了轮式移动机器人的动力学模型,消除了非完整约束对动力学建模的影响,直接将非完整约束融入到动力学方程中。同时,采用基于航向预览策略的路径跟踪控制算法来控制轮式移动机器人。并运用MATLAB仿真软件分析了动力学模型及控制算法的控制性能,通过仿真验证了轮式移动机器人控制算法的稳定性。
In order to realize automatic driving of the wheeled mobile robot,a path tracking control model of the wheeled mobile robot is established.In view of the fact that the wheeled mobile robot has nonholonomic constraints,the dynamic model of the wheeled mobile robot is established by using Kane equation,which eliminates the influence of nonholonomic constraints on dynamic modeling,and directly integrates the nonholonomic constraints into the dynamic equations.At the same time,a path tracking control algorithm based on heading preview strategy is used to control the wheeled mobile robot.MATLAB was used to analyze the control performance of the dynamic model and the control algorithm,and the stability of the control algorithm of the wheeled mobile robot was verified through simulation.
出处
《现代机械》
2020年第6期20-23,共4页
Modern Machinery
