非完整移动机器人全局路径跟踪控制

Global path-following control for nonholonomic mobile robots

中文关键词  路径跟踪  基于制导  移动机器人  跟踪方向

英文关键词  path following  guidance-based  mobile robot  following direction

中文摘要

      根据制导路径跟踪理论, 提出了一种非完整移动机器人全局路径跟踪控制方法. 这一方法首先在路径坐标系上计算实际位置与期望位置的误差, 利用制导的路径跟踪理论, 导出消除该误差所需的姿态角和路径参数更新律, 然后据此求解角速度及实际控制. 文中还给出了初始路径参考点的计算方法, 分析了路径跟踪方向和反转方法. 稳定性分析证明该方法没有控制奇异点, 受控闭环系统全局一致渐近稳定. 最后通过移动机器人典型路径跟踪实验验证了所提出方法的可行性.

英文摘要

      A novel global path-following controller for a nonholonomic mobile robot is proposed based on the guidancebased path-following principle. Tracking errors between the real and desired positions are calculated in the path reference frame; the desired attitude and the updating law for the path parameters are deduced according to the guidance principles, the angular velocity and the control laws are determined from the obtained results. We also develop the method for calculating the reference point for the initial path, and investigate the path-following direction and the method of its reversion. The stability analysis shows that this scheme is free from control singular points, and the closed-loop system achieves the global, uniform and asymptotic convergence. Experimental results from a mobile robot are presented to validate the effectiveness of proposed controller.