机器人Issue(3)：361-368,8.DOI:10.13973/j.cnki.robot.2015.0361
基于主动偏心轮的全方位移动机器人航位推算与跟踪控制
Dead Reckoning and Tracking Control of Omnidirectional Mobile Robots with Active Caster Wheels
摘要
Abstract
For an omnidirectional mobile robot with active caster wheels, a redundant encoders based dead reckoning method is proposed, and a trajectory tracking controller is further presented in the presence of velocity saturation constraints. Specifically, the reasons for wheel slipping are analyzed firstly, and then a passive caster wheel with redundant encoders are designed and equipped on the robot, inspired by the fact that the passive caster wheels present less slipping than the active casters. Subsequently, the dead reckoning problem is transformed into an equality-constrained linear least square problem. Experimental results show that, compared with the traditional dead reckoning method without redundant encoders, the pro-posed dead reckoning method alleviates the effects of the slipping on localization and improves the localization precision. Considering that the practical velocities are bounded for motors, a trajectory tracking controller is designed in the presence of such input saturation constraints, and the stability is proven by Lyapunov-based techniques while ensuring the velocity satu-ration constraints to be satisfied. Both simulation and experimental results demonstrate that the proposed controller presents superior performance, while satisfying the control saturation constraints.关键词
全方位移动机器人/主动偏心轮/航位推算/轨迹跟踪Key words
omnidirectional mobile robot/active caster wheel/dead reckoning/trajectory tracking分类
信息技术与安全科学引用本文复制引用
张一淳,张雪波,方勇纯,沈佩尧..基于主动偏心轮的全方位移动机器人航位推算与跟踪控制[J].机器人,2015,(3):361-368,8.基金项目
国家自然科学基金资助项目（61203333）；教育部高等学校博士学科点专项科研基金资助项目（20120031120040）；天津市应用基础与前沿技术研究计划资助项目（13JCQNJC03200）． （）
