给定速度需求的移动机器人路径跟踪控制与实验

发布时间：2019-05-23 11:20

【摘要】：针对轮式移动机器人给定速度需求的非连续路径跟踪控制问题,将其转换为满足速度约束的轨迹规划和轨迹跟踪控制。首先,针对给定速度需求的路径跟踪问题,以运行时间和能量为优化目标,给定的路径和速度为约束条件,采用五次Bezier样条方法优化得到了满足需求的连续光滑轨迹。其次,利用轮式移动人系统的微分平坦特性,采用微分平坦方法设计前馈控制器;然后,将轮式移动机器人运动学模型在前馈控制的平衡点处进行一阶泰勒展开,得到了线性时变的误差模型,并通过定义新的状态变量,设计了具有Lyapunov稳定性的误差反馈控制器。结合前馈控制和反馈控制得到了二自由度轨迹跟踪控制器。同时将泰勒展开的高阶项考虑为有界的扰动输入,在输入到状态稳定性框架下证明了控制系统的鲁棒稳定性;最后,通过Pioneer 3-dx轮式移动机器人进行了实验验证,实验结果表明,提出的算法能够满足给定速度需求的非连续路径的跟踪控制需求。
[Abstract]:In order to solve the problem of discontinuity path tracking control for wheeled mobile robots with given speed requirements, it is transformed into trajectory planning and trajectory tracking control which meet the speed constraints. Firstly, aiming at the path tracking problem of given speed requirement, taking the running time and energy as the optimization goal and the given path and speed as the constraint conditions, the continuous smooth trajectory satisfying the demand is obtained by using the quintic Bezier spline method. Secondly, based on the differential flatness characteristics of wheeled mobile man system, the feedforward controller is designed by differential flattening method. Then, the kinematic model of wheeled mobile robot is expanded by first order Taylor at the equilibrium point of feedforward control, and the linear time-varying error model is obtained, and the new state variables are defined. An error feedback controller with Lyapunov stability is designed. A two-degree-of-freedom trajectory tracking controller is obtained by combining feedforward control and feedback control. At the same time, the higher order term of Taylor expansion is considered as a bounded disturbance input, and the robust stability of the control system is proved under the framework of input to state stability. Finally, the experimental results of Pioneer 3-dx wheeled mobile robot show that the proposed algorithm can meet the tracking and control requirements of discrete paths with given speed requirements.
【作者单位】：吉林大学通信工程学院;吉林大学汽车仿真与控制国家重点实验室;密歇根大学航空航天工程系;
【基金】：国家自然科学基金重点项目(61520106008、61374046)
【分类号】：TP242

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