控制理论与应用2012，Vol.29Issue(6)：741-746,6.
非完整移动机器人全局路径跟踪控制
Global path-following control for nonholonomic mobile robots
摘要
Abstract
A novel global path-following controller for a nonholonomic mobile robot is proposed based on the guidance-based path-following principle. Tracking errors between the real and desired positions are calculated in the path reference frame; the desired attitude and the updating law for the path parameters are deduced according to the guidance principles, the angular velocity and the control laws are determined from the obtained results. We also develop the method for calculating the reference point for the initial path, and investigate the path-following direction and the method of its reversion. The stability analysis shows that this scheme is free from control singular points, and the closed-loop system achieves the global, uniform and asymptotic convergence. Experimental results from a mobile robot are presented to validate the effectiveness of proposed controller.关键词
路径跟踪/基于制导/移动机器人/跟踪方向Key words
path following/ guidance-based/ mobile robot/ following direction分类
信息技术与安全科学引用本文复制引用
郑泽伟,霍伟,诸兵..非完整移动机器人全局路径跟踪控制[J].控制理论与应用,2012,29(6):741-746,6.基金项目
国家自然科学基金资助项目(61074010). （61074010）
