非完整约束轮式移动机器人人工场导向控制研究

导向控制在非完整约束轮式移动机器人的运动控制中具有重要作用，该文通过建立人工场的方法来引导和控制方向角，通过辅助的线速度控制前进或后退，以获得最佳收敛路径；同时考虑到实际系统速度饱和限制，从而设计出一种新的非连续位姿镇定律，并将该结果扩展，使得平面内任意点-点镇定、轨迹跟踪和路径跟踪问题均可得以实现，且对于跟踪问题仅需知道期望位姿，所得控制器不权设计简单，鲁棒性强，收敛速度快，还具有一定的普遍性。

Steering places an important role in control of nonholonomic wheeled mobile robots (WMRs).In this paper, we use artificial fields to steer and control the steering angle and derive a linear velocity control law to guarantee the optimal convergent trajectory. The proposed approach can be used to realize arbitrary point to point stabilization, trajectory tracking and path following. Easy design, fast convergence, and adaptability to other nonholonomic mobile bases are also its obvious advantages compared ...

国家“863”计划智能机器人主题项目 (863-512-9820-06)资助