计算机工程与应用2023，Vol.59Issue(24)：336-344,9.DOI:10.3778/j.issn.1002-8331.2308-0105
基于路径评价模型的自适应轨迹跟踪控制
Adaptive Trajectory Tracking Control Based on Trajectory Evaluation Model
摘要
Abstract
In addressing the trajectory tracking control for existing mobile robots,the predominant has been focused on mitigating inherent self-pose errors,while the influence of trajectory curvature on tracking control has been overlooked.In order to further enhance the tracking accuracy of intelligent mobile wire-launching robots,a control approach is intro-duced herein,denoted as the trajectory evaluation model controller(TEMC),which is predicated upon a trajectory evalua-tion model.Firstly,the establishment of kinematic models pertinent to mobile robots is undertaken.Secondly,to articulate the geometric interrelation between the reference trajectory and the robot,a trajectory evaluation model(TEM)is formu-lated.The model incorporates curvature and its rate of change to quantify trajectory complexity.A comprehensive trajectory evaluation function is devised,amalgamating trajectory complexity with factors of self-pose errors.Additionally,utilizing a back propagation neural network,a controller founded upon the trajectory evaluation model is introduced,accompanied by a presentation of the stability proof.Finally,the efficacy of the trajectory evaluation model is substantiated through rig-orous simulation,and the essential parameter range within the model is determined empirically via experimental methods.It is demonstrated that the TEMC yields a tracking precision enhancement of over 48%compared to conventional adap-tive backstepping controllers.关键词
轨迹跟踪/路径评价模型/路径复杂度/路径评价函数Key words
trajectory tracking/trajectory evaluation model/trajectory complexity/trajectory evaluation function分类
计算机与自动化引用本文复制引用
许万,周航..基于路径评价模型的自适应轨迹跟踪控制[J].计算机工程与应用,2023,59(24):336-344,9.基金项目
船舶振动噪声重点实验室基金(6142204200709) （6142204200709）
湖北省技术创新专项重大项目(2019AEE014). （2019AEE014）
