机械科学与技术2023，Vol.42Issue(12)：1967-1971,5.DOI:10.13433/j.cnki.1003-8728.20220178
四舵轮移动机器人分段预测路径跟踪系统研究
Exploring Piecewise Predictive Path Tracking Control of Four Steering Wheel Mobile Robot
钟浩翔 1钟磊 2焦向东1
作者信息
- 1. 北京石油化工学院机械工程学院,北京 102617
- 2. 首都航天机械公司,北京 100076
- 折叠
摘要
Abstract
According to the path trackingcharacteristics of a four steering wheel mobile robot,themobile robot's path tracking system was developed based on the Visual C++platform with an industrial computer and a motion control card.Based on the configuration of the four steering wheel mobile robot,its kinematics control model was established with the velocity geometry method.On this basis,a piecewise predictive path tracking algorithm based on optimal control was proposed.It not only avoids the trial of required parameters but also reduces the maximum overshoot of distance deviation and the total number of deviation correctionsteps when the vehicle body was away from its target path.The experimental results on path tracking show that the mobile robot using thepiecewise predictive path tracking algorithm can well track the target path.Compared with the multi-step predictive control that does not usethe piecewise predictive path tracking algorithm,the piecewise predictive path tracking algorithm reduces the maximum overshoot of position deviationby 29.81％,reaching 35.563 mm,the time for deviation correction by 38.10％,reaching 13 s,its positioning accuracy being 11.292 mm and 0.51°,better meeting the positioning requirements of a four steering wheel mobile robot.关键词
四舵轮移动机器人/运动学/路径跟踪/分段预测控制Key words
four steering wheel mobile robot/kinematics/path tracking/piecewise predictive control分类
信息技术与安全科学引用本文复制引用
钟浩翔,钟磊,焦向东..四舵轮移动机器人分段预测路径跟踪系统研究[J].机械科学与技术,2023,42(12):1967-1971,5.
