摘要
研究了一种新型四轮差动全方位移动机器人的路径跟随控制问题。基于运动学模型及人工驾驶的思想,设计了一种异于传统单点跟随控制的新型双点跟随方法,采取前后驱动单元主从控制的模式,将差动单元角速度和速度控制分离,分别设计模糊控制器。最后,对具有代表性的正弦曲线进行路径跟随仿真实验,结果表明设计的路径跟随控制策略可行、超调小、响应快,解决了采用单点跟随控制中出现的高耦合复杂系统问题。
The path following control of a new type of 4-wheel differential omnidirectional mobile robot is studied.Based on the kinematics model and the artificial driving thought,a new kind of control method,i.e.following two reference point,which is different to the traditional following single point method,is designed.The proposed method adopts master-slave control model of the front and rear differential unit and separates the angular velocity control and velocity control of the differential unit to independently design the fuzzy controller.At last,the most representative path,the sine curve path following is simulated and the results show that the following control strategy is feasible,small overshoot,rapid responding and resolves the complex system with high degree of coupling in the following single point control.
出处
《重庆大学学报（自然科学版）》
EI
CAS
CSCD
北大核心
2013年第3期20-24,共5页
Journal of Chongqing University
基金
国家自然科学基金资助项目(50974151)
关键词
差动
四轮独立驱动
模糊控制
双点跟随
计算机仿真
differential
4-wheel separated drive
fuzzy control
following two reference point
computer simulation
