基于跟踪微分器的移动机器人轨迹规划与跟踪控制研究

Research on Trajectory Planning and Tracking Control of Mobile Robot Based on Tracking Differentiator

针对移动机器人的轨迹规划和轨迹跟踪控制问题,提出一种加速度和速度约束情况下,通过贝塞尔曲线拟合参考轨迹,再利用跟踪微分器规划平滑速度的轨迹规划新方法;基于Backstepping方法,建立机器人位姿误差方程并进行控制器的设计,同时分析了控制参数对轨迹跟踪性能的影响;将轨迹规划方法和控制算法结合,并在仿真平台和移动机器人实物平台上进行实验验证。实验结果验证了轨迹规划算法和控制器的可靠性及有效性,相比于未进行速度规划、速度不连续和滑模控制等方法,提出的方法控制平稳且有效减少了位姿误差。

To slove the problem that the trajectory planning and trajectory tracking control of mobile robot,a new trajectory planning method was proposed to fit the reference trajectory through the Bessel curve under the constraint of acceleration and velocity,and then tracking differentiator was used to plan and smooth the velocity.The robot pose error equation was established and the controller was designed.The influence of the control parameters on the trajectory tracking performance was analyzed.Finally,the trajectory planning method and control algorithm were combined on the simulation platform and the mobile robot physical platform experimental verification was carried out.The experimental results confirm the reliability and effectiveness of the trajectory planning algorithm and the controller.In comparison to without velocity planning,velocity discontinuity and sliding mode control,the proposed method has smooth control the small pose error.