摘要
设计了双轮移动机器人安全目标追踪算法和双回路的追踪与避障控制方案.内层控制回路是目标追踪的控制律,用来指导机器人追踪到指定目标并保持一定的安全距离,而且兼顾了机器人在运行速度上的限制和追踪的时间效率,其控制的渐近稳定性用Lyapunov函数法进行了证明.当遇到障碍物时,外层控制回路根据超声传感器的信息和阻抗控制的概念产生阻抗虚拟力,将期望目标调整到虚拟位置,使机器人能够自动转向以避开障碍物.仿真研究和实验结果证明了追踪算法的有效性和避障方法的可行性.
A safe target-tracking and obstacle avoidance control system for unicycle mobile robots is proposed in this paper. The control system consists of two nested loops. Target-tracking law in the inner loop controls the robot to track the predetermined target by reducing the posture error to zero and its stability is analyzed by using Lyapunov function method. The tracking law also takes into account the velocity limit of the robot and tracking time efficiency. When any obstacle is detected, the external loop provides a modification on the target position based on the impedance control concept and the robot-obstacle distance measured by eight ultrasonic sensors. Simulation studies and experiments show that the tracking law is more general and practical than other methods and the control system can prevent the robot from obstacle collision.
出处
《控制理论与应用》
EI
CAS
CSCD
北大核心
2007年第4期535-540,共6页
Control Theory & Applications
基金
国家"211"工程项目(BHA211-2-5).
关键词
移动机器人
目标追踪
避障
阻抗控制
mobile robot
target tracking
obstacle avoidance
impedance control
