基于自适应反演法的轮式AGV轨迹跟踪方法

Wheeled AGV Trajectory Tracking Method Based on Adaptive Backstepping Method

移动机器人路径规划是指在没有碰撞的情况下,参照某一指标找到最佳或辅助路径,以安全地绕过环境中已知或未知的障碍物,从起点到目标点。在已知条件下,与全球静态路径规划相比,在仓库物流、小区安全巡逻等一些未知条件下,移动机器人的路径规划问题仍然很难解决。基于此,本文对基于自适应反演法的轮式AGV轨迹跟踪方法进行了探讨,以供参考。

Mobile robot path planning refers to finding the optimal or auxiliary path with reference to an index without collision,so as to safely bypass known or unknown obstacles in the environment,from the starting point to the target point.Under known conditions,compared with global static path planning,it is still difficult to solve the path planning problem of mobile robots under some unknown conditions such as warehouse logistics and community safety patrols.Based on this condition,this paper discusses the wheeled AGV trajectory tracking method based on adaptive backstepping method,for reference.