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建立了非完整移动机器人的离散化运动学模型。根据机器人位姿定位问题的描述,设计了基于人工驾驶思想的路径跟踪模糊控制器。针对机器人相对于位姿目标点的方向误差和姿态误差之间的耦合矛盾,提出一种位-姿交替控制的路径跟踪方法。当存在较大位置误差时进行位置控制以实现快速跟踪,当位置误差较小时进行姿态控制,两者根据误差的大小交替进行。仿真结果表明了该模糊控制器的有效性和对路径跟踪的快速性。
The discrete kinematics model of nonholonomic mobile robot is established. According to the description of robot position and orientation, a path-tracking fuzzy controller based on artificial driving is designed. Aiming at the contradiction between the orientation error and the attitude error of the robot relative to the target position and orientation, a path-track alternate control method is proposed. When there is a large position error for position control to achieve fast tracking, when the position error is small attitude control, both according to the size of the error alternately. Simulation results show the effectiveness of the fuzzy controller and the rapidity of path tracking.