摘要
针对差速运动的离轴式拖车移动机器人路径跟踪控制问题,推导和建立了牵引车移动机器人与拖车移动机器人的运动学方程,采用反演法设计了离轴式拖车移动机器人路径跟踪控制器,利用李雅普诺夫方法证明了设计的控制器的渐进稳定。在Matlab环境下对拖车移动机器人的直线路径跟踪与曲线路径跟踪进行了仿真验证,仿真结果表明,拖车移动机器人的初始位姿跟踪误差短时间内收敛于零,拖车移动机器人的路径跟踪情况良好。
For the path tracking control problem of off-axis trailer mobile robot with differential motion,the kinematic equations of the tractor mobile robot and the trailer mobile robot are derived and established,and the inverse method is used to design the off-axis trailer mobile robot path tracking controller,and the asymptotic stability of the designed controller in the thesis is proved by the Liapunov’s method.The linear path tracking and curved path tracking of the trailer mobile robot are simulated and verified in Matlab environment.The simulation results show that the initial positional tracking error of the trailer mobile robot converges to zero in a short time and the path tracking of the trailer mobile robot is good.
作者
刘鹏飞
张文志
石磊
兰凌霄
LUI Pengfei;ZHANG Wenzhi;SHI Lei;LAN Lingxiao(College of Mechanical Engineering,Inner Mongolia University of Technology,Hohhot 010051,China;Key Laboratory of Inner Mongolia Autonomous Region for Special Service Intelligent Robotics,Hohhot 010051,China)
出处
《内蒙古工业大学学报（自然科学版）》
2023年第1期26-31,共6页
Journal of Inner Mongolia University of Technology：Natural Science Edition
基金
内蒙古自然科学基金项目(2020LH06003)。
