摘要
将移动机器人的运动规划与跟踪控制问题合并在一起,对加速度约束条件下的非完整移动机器人运动控制问题进行研究.提出基于贝塞尔曲线的路径规划方法,以满足机器人的非完整约束.在考虑所受加速度约束的条件下,通过规划机器人状态时间轨线的方法实现了时间最优的轨迹规划.基于控制李亚普诺夫函数推导出了轨迹跟踪的控制律.仿真实验结果表明所提出的算法是有效的.
Motion control of nonholonomic mobile robot under acceleration limits is discussed. Motion planning and trajectory tracking are incorporated. The planned path is presented as Bezier curve that can be proved to satisfy the nonholonomic constrains, Under the acceleration constrains, the trajectory realized by planning the time law of robot＇s state is optimized in the sense of minimum time. Finally, the control law of trajectory tracking is presented based on a control Lyapunov function. The simulation results prove the effectiveness of the proposed methods.
出处
《控制与决策》
EI
CSCD
北大核心
2006年第2期193-196,共4页
Control and Decision
关键词
移动机器人
非完整约束
路径规划
轨迹规划
轨迹跟踪
Mobile robot
Nonholonomic constrains
Path planning
Trajectory generation
Trajectory tracking
