用小波插值方法实现移动机器人的轨迹追踪控制

Tracking Control for Mobile Robots by Using the Wavelet Interpolation Method

基于动力学模型方程 ,利用小波插值方法 ,对移动机器人的轨迹追踪控制问题 ,给出了一种新的方法 该方法在有限时间内 ,实现了转动速度、前进速度均不为零的期望轨迹追踪 它的突出特点是计算量小、方法简单 ,期望轨迹可为任意复杂的非线性曲线 在仿真实验里 。

Presented in this paper is a trajectory tracking control method for the mobile robots based on the dynamic equations by using the wavelet interpolation method. The proposed control method enables the mobile robots track the desired trajectory in finite time when the rotational velocity and the forward velocity are both nonzero. More evident advantages of the proposed control method include less computation demand, more simple method and its desired trajectory being any complex nonlinear curve. Simulation results show its effectiveness.