计算机应用研究2012，Vol.29Issue(10)：3728-3732,5.DOI:10.3969/j.issn.1001-3695.2012.10.032
一种改进的移动机器人轨迹跟踪迭代学习方法
Improved iterative learning control method for mobile robot trajectory tracking
摘要
Abstract
Through studying trajectory tracking optimization problems of the wheeled mobile robot, this paper proposed a iterative learning control approach based on Kalman filter with strong adaptability, fast convergence and small error. In order to bring the advantages of Kalman filtering algorithm and the iterative learning control algorithm into full play, it used the introduction of state compensation term and designed new iterative learning gain matrix to improve the law of iterative learning control. Art improved iterative learning control could track the desired circular trajectory more quickly, more accuratly and more effectively. It used a discrete Kalman filter to filter rejection and noise, and restrained the influence of interference and noise on trajectory tracking. It made this algorithm more suitable for engineering application. Experiments and computer simulations show that the method has good tracking ability.关键词
轮式移动机器人/轨迹跟踪/迭代学习控制/Kalman滤波/工程应用Key words
wheeled mobile robot/trajectory tracking/iterative learning control/Kalman filiter/engineering application分类
信息技术与安全科学引用本文复制引用
张扬名,刘国荣,兰永红..一种改进的移动机器人轨迹跟踪迭代学习方法[J].计算机应用研究,2012,29(10):3728-3732,5.基金项目
国家自然科学基金资助项目(51177040,61104072) （51177040,61104072）
湖南省自然科学湘潭市联合基金重点资助项目(09jj8006) （09jj8006）
