移动机器人运动轨迹控制算法研究

Research on Trajectory Control Algoritlim of Mobile Robot

为减少轮式移动机器人运动中相邻电机的耦合误差,提高整体运动的协调性和同步性,结合轮式机器人运动学模型,提出一种位置式PID反馈控制算法。根据轮式控制原理,在经典PID控制算法的基础上,引入级联反馈控制算法,对左右两轮的反馈增量进行修正,从而调整左右两轮电机转速。最后通过实验对上述算法进行验证,并与传统PID控制算法进行比较。实验结果表明,在对左右两轮控制方面,位置式PID控制算法更稳定。

In order to reduce the coupling error of adjacent motors in the motion of wheeled mobile robot and improve the coordination and synchronization of the overall motion,combined with the kinematic model of wheeled robot,a position PID feedback control algorithm is proposed.According to the wheel control principle,based on the classical PID control algorithm,the cascade feedback control algorithm is introduced to modify the feedback increment of the left and right wheels,so as to adjust the motor speed of the left and right wheels.Finally,the above algorithm is verified by experiments and compared with the traditional PID control algorithm.The experimental results show that the position PID control algorithm is more stable in the control of the left and right wheels.