摘要
介绍一种轮式足球机器人的平滑运动轨迹控制算法。为了更简洁有效地驱动足球机器人平滑快速地跟踪目标位置与姿态,在控制其移动的过程中应平滑连续地改变其速度和方向。提供了一种基于双积分系统时间最优Bang-Bang控制的轨迹生成及控制算法,在模拟引导轨迹的引导下进行连续的速度控制引导机器人平滑高速跟踪运动轨迹并按要求调整其末端姿态。通过一系列的仿真结果来体现该控制算法的高效性和准确性。
A smooth tracking control method for wheeled mobile robot is introduced.In order to navigate the wheeled mobile robot more smoothly and quickly,the motion controller of robot should generate a serial of command to pro-duce smooth,continous velocities.Danamic constranint of the mobile robot should be considered in thedesign of path tracking algorithm.The proposed controller is based on Bang-Bang control technique and the concept of landing curve.The effectiveness and accuracy is showed by a serial simulatins of wheeled mobile robot.
出处
《自动化与仪表》
2004年第1期8-11,共4页
Automation & Instrumentation