基于双闭环P+前馈的移动机器人路径跟随控制

Path following control of mobile robot based on double closed loop P+with feedforward compensation

针对经典PID控制器在移动机器人路径跟踪效果不佳的问题,建立了机器人运动学模型。依据P+前馈控制原理,以位置跟踪和姿态跟踪分别为系统外环和内环,设计了一种双闭环P+前馈控制算法,通过仿真验证该方法的路径跟随能力。结果表明,双闭环P+前馈控制的目标路径理想跟随角度最大值为0.9613 rad,能够快速跟随机器人规划的路径。

This paper is designed to address the poor performance inherent in classical PID controller in mobile robot path tracking.The approach involves developing the kinematics model of the robot,according to the P+feedforward control principle,position tracking and attitude tracking are taken as the outer loop and inner loop of the system,respectively,to design a kind of double closed loop P+feeforward controller,and performing the simulation to prove the path following ability of the proposed method.The results show that the maximum ideal following angle of the target path is 0.9613 rad for the double closed loop P+feedforward control,and this method can quickly follow the planned path of the robot.