摘要
本文研究实时动态环境中四轮全方位移动机器人的运动控制和轨迹规划.通过对机器人运动学和动力学特性的分析,给出了四轮全方位移动机器人的控制模型,并根据方程特性对其进行了合理的简化,使得计算量有效减少.同时采用Bang-Bang控制规划出时间最优的机器人运动轨迹.通过轨迹规划和控制模型的结合达到了实时控制的效果.实验证明了模型的正确性和算法的有效性.
This paper focuses on the motion control and path planning of an omni-directional mobile robot, By analyzing the kinematic and dynamic characteristics of the robot, its motion control model is provided. The model is rationally simplified based on the model equation to reduce the computation cost. The optimal trajectory is generated by using Bang-Bang control. The real-time control effect is realized by combining the trajectory planning and control modeling. Experiment demonstrates the effectiveness of the proposed method.
出处
《控制理论与应用》
EI
CAS
CSCD
北大核心
2006年第1期93-98,共6页
Control Theory & Applications
基金
国家自然科学基金资助项目(60305010)
关键词
全方位移动机器人
运动控制
轨迹规划
omni-directional mobile robot
motion control
path planning
