轮式移动机器人平面驱动转向稳定区域研究

Research on planar motion driving and steering stabilityregion of mobile robot

为判断移动机器人的平面运动稳定性,提出了一种以能量耗散理论为基础的驱动转向稳定区域求解方法。建立了移动机器人平面运动五自由度动力学模型,通过移动机器人能量耗散过程分析,求解移动机器人的平面运动驱动转向稳定区域,将仿真结果代入到ADAMS模型中进行了动力学特性分析及正确性验证。结果表明:通过能量耗散理论所求的平面运动驱动转向稳定区域与仿真运动分析结果一致,可为移动机器人的运动稳定性研究提供动力学判据。

The driving and steering stability region can provide control reference boundary for mobile robot in the process of motion and is one of the important bases for evaluating its stability.To assess the planar motion stability of the mobile robot,this paper proposes a method based on energy dissipation theory to locate the stability region of driving and steering.A five-degree-of-freedom dynamic model for the planar motion of a mobile robot is built.Through the analysis of the energy dissipation process of the mobile robot,the planar motion driving and steering stability region of the mobile robot is located.The ADAMS model is employed to analyze the dynamic characteristics and verify the simulation results.Our findings indicate the driving and steering stability region of planar motion obtained through energy dissipation theory is consistent with the simulation results.Thus,it may provide some dynamic criteria for the study of the mobile robot motion stability.