摘要
为实验用两差动轮机器人设计了一种目标跟踪控制器并给出了控制器参数的确定方法.利用目标跟踪控制器连接实验算法和移动机器人两侧轮子硬件接口这一技术,该控制器可以将两差动轮移动机器人引导至目标点而不会受到执行器最低转速限制的影响.移动机器人距离目标较远时,控制器在缩短机器人与目标点之间距离的同时调整机器人朝向使之指向目标;在不增加算法复杂度的前提下,当机器人接近目标后,控制策略切换为优先调整机器人朝向,然后缩短与目标点的距离.基于KheperaⅢ机器人的仿真和实验结果表明,所设计的目标跟踪控制器可以引导机器人沿着平滑的轨迹,由快及慢,最终以接近最低速的形式到达目标.
The design of a target-tracking controller for experimental differential drive mobile robots is presented,in addition to a corresponding method for tuning its parameters.The target tracking controller,whose design con-nects experimental algorithms with wheel hardware interfaces,guides the robot to its goal without being affect-ed by the actuator′s minimum speed limit.When the robot is far away from its goal,the controller will adjust the robot′s orientation to the direction of the goal while shortening the distance between the robot and the goal. Without increasing the complexity of the algorithm,when the robot increases its proximity to its target,the control strategy is switched to prioritize robot orientation and its travel speed decreases along with its distance to the target.Simulation and experimental results on the KheperaⅢrobot show that the robot follows a smooth trajectory,with its traveling speed transitioning from fast to slow,and ultimately reached its goal at approxi-mately the minimum speed of the actuator.
出处
《信息与控制》
CSCD
北大核心
2015年第2期152-158,共7页
Information and Control
基金
国家自然科学基金资助项目(61273116)
关键词
执行能力有限
移动机器人
目标跟踪
切换控制
limited actuator capacity
mobile robot
target tracking
switching control
