摘要
设计了双回路的双轮移动机器人运动目标追踪与避障控制方案。内层控制回路是运动目标追踪控制律,指导机器人追踪到目标并保持一定的安全距离,控制律考虑了机器人在运动速度上的限制,其渐近稳定性用Lyapunov函数法进行了证明。当遇到障碍物时,外层控制回路根据超声传感器的信息和阻抗控制的概念产生阻抗虚拟力,将期望目标调整到虚拟位置,使机器人能够自动转向以避开障碍物。仿真研究和实验结果证明了追踪算法的有效性和避障方法的可行性。
A moving target tracking and obstacle avoidance control system for unicycle mobile robots is proposed in this paper. The control system consists of two nested loops. Tracking law in the inner loop controls the robot to track the target via reducing the posture error to zero and its stability is analyzed using Lyapunov function method. The law also takes into account of the velocity limit of the robot. When any obstacle is detected, the external loop provides a modification on the target position based on the impedance control concept and the obstacle＇s distance measured by eight ultrasonic sensors. Simulation study and experiment show that the tracking law is correct and the control system can prevent the robot from obstacle collision.
出处
《航空学报》
EI
CAS
CSCD
北大核心
2007年第2期445-450,共6页
Acta Aeronautica et Astronautica Sinica
基金
国家"211"工程项目(BHA211-2-5)
关键词
移动机器人
目标追踪
阻抗控制
避障
mobile robot
target tracking
impedance control
obstacle avoidance
