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由于轮式移动机器人的非完整性质和运动受限性质,它的轨迹跟踪已经成为一类具有挑战性的控制问题。针对一个可以在医院环境中执行护理任务的室内移动机器人-护士助手机器人,提出一种轮式移动机器人的轨迹跟踪滑模控制方法。由移动机器人在极坐标系中的运动学方程出发设计一个滑模控制器,进而提出了一种新的滑模控制方法,解决了在极坐标系中关于运动学的跟踪问题。分析了此方法的稳定性和执行性能,并且通过仿真证明这个控制方法的实际应用的有效性。
Due to the nonholonomic and motion-limited nature of wheeled mobile robots, its trajectory tracking has become a type of challenging control problem. Aiming at an indoor mobile robot-nurse helper robot that can perform nursing tasks in a hospital environment, a trajectory tracking sliding mode control method for a wheeled mobile robot is proposed. A sliding mode controller is designed based on the kinematics equation of the mobile robot in the polar coordinate system. Then a new sliding mode control method is proposed to solve the problem of kinematics tracking in the polar coordinate system. The stability and performance of this method are analyzed, and the validity of the practical application of this control method is proved through simulation.