重庆大学学报2013，Vol.36Issue(3)：20-24,5.
四轮差动全方位移动机器人路径跟随控制分析
The path following control analysis for 4-wheel differential omnidirectional mobile robot
摘要
Abstract
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.关键词
差动/四轮独立驱动/模糊控制/双点跟随/计算机仿真Key words
differential/ 4-wheel separated drive/ fuzzy control/ following two reference point/ computer simulation分类
信息技术与安全科学引用本文复制引用
陈平,倪振,马伟..四轮差动全方位移动机器人路径跟随控制分析[J].重庆大学学报,2013,36(3):20-24,5.基金项目
国家自然科学基金资助项目(50974151) （50974151）
