摘要
文中以前轮作为转向轮、后两轮驱动的三轮移动机器人为研究对象,对机器人的路径跟踪问题给出了基于动态逆的非时间路径跟踪控制算法.和传统的基于时间的路径跟踪控制相比,该路径跟踪控制效果良好,更符合实际情况,便于应用。仿真验证了该算法的有效性.
This paper discusses tricycle with the front wheel as a steering wheel and two rear wheels as driving wheels. To path following control problem of mobile robot,a method of non-time path following control based on inverse dy- namic is presented.Compared to traditional method,this control effect is well.It is easy to adapt to real environment and to complement.Simulation result reveals this method is available and effective.
出处
《弹箭与制导学报》
CSCD
北大核心
2005年第S7期366-368,372,共4页
Journal of Projectiles,Rockets,Missiles and Guidance
关键词
动态逆
移动机器人
非时间
路径跟踪控制
inverse dynamic
wheeled mobile robot
non-time
path following control
