轮式移动机器人轨迹跟踪的最优控制

深入分析了轮式移动机器人的运动状态,建立了WMR路径偏差系统的非线性数学模型。应用小偏差线性化理论,将该多输入多输出非线性系统简化成一个单输入单输出线性系统。然后基于线性二次型调节器理论进行了系统最优控制器的设计,并针对该理论中加权矩阵Q与R难以确定的问题,从控制效果出发,采用自适应遗传算法对其进行了优化。实现了移动机器人对预定轨迹的满意鲁棒跟踪,同时满足了实时性要求。实验结果证明了该方法的正确性与实用性。

Firstly,a wheeled mobile robot′s(WMR) motion states are analyzed,and then its path deviation system′s nonlinear mathematic model is established,on the basis of which,by using small deviation linearization theory,a nonlinear multi-input and multi-output system is simplified into a linear single-input and single-output one.Secondly,an optimal control system is designed on a linear quadratic regulator(LQR) basis.Because it is difficult to determine the weighted matrix Q and R,an adaptive genetic algorithm for optimizing the LQR is adopted to control it effectively.In this way the WMR realizes satisfactory robust tracking to the pre-determined trajectory and meets real-time demands at the same time.Finally experimental results show the correctness and validity of this method.

中科院沈阳自动化所机器人学研究室项目(RL200202)资助