重庆理工大学学报2024，Vol.38Issue(3)：236-245,10.DOI:10.3969/j.issn.1674-8425(z).2024.02.026
离轴拖挂轮式移动机器人跟踪控制研究
Research on tracking control of the tractor-trailer wheeled mobile robot with an off-axle hitching
摘要
Abstract
This paper proposes a dynamic tracking method based on the relative curvature relationship between the tractor and the trailer trajectory to address the trajectory tracking problem of the trailer in tractor-trailer wheeled mobile robot with an off-axle hitching.First,the kinematics model and dynamics model of the tractor-trailer wheeled mobile robot with an off-axle hitching are built.Then,the speed relationship between the two vehicles is determined with the aid of the geometric relationship between the tractor and the trailer position,and the relationship between the relative curvatures of the two vehicles'trajectories is obtained.Based on the curvature relation,the motion task of the tractor is transformed into the motion task of the trailer,and a proportion integration feedback controller is designed to complete the motion task of the tractor by combining with the dynamic tracking method.Finally,the accurate trajectory tracking control of the trailer is achieved by simulation.Our simulation results show the trailer accurately tracks the target trajectory curve under the action of the proposed controller.As our dynamic tracking method introduces the relative curvature of the target trajectory curve,the tracking accuracy is substantially improved.关键词
离轴拖挂轮式移动机器人/动态跟踪方法/相对曲率/比例积分反馈控制Key words
tractor-trailer wheeled mobile robot with an off-axle hitching/dynamical tracking method/relative curvature/proportion integration feedback control分类
信息技术与安全科学引用本文复制引用
苗盛阳,周宇生..离轴拖挂轮式移动机器人跟踪控制研究[J].重庆理工大学学报,2024,38(3):236-245,10.基金项目
国家自然科学基金项目(12162006) （12162006）
贵州省科技计划项目(黔科合基础-ZK[2023]一般037) （黔科合基础-ZK[2023]一般037）
