摘要
为了提高移动机器人运动控制精度,满足移动机器人精确运动的需要,研制了一种以EPOS运动控制器为核心、采用激光导航的移动机器人运动控制系统。为验证运动控制系统的正确性和有效性,采用Lyapunov函数设计出一种速度跟踪控制算法。移动机器人轨迹跟踪实验结果表明,该控制系统精度高、实时性好、可以满足移动机器人在各种环境中的行走需要。
In order to improve the controlling precision of the mobile robot,so as to meet the requirement of moving accurately,a new type of motion controller based on EPOS and laser based navigation is designed.To validate the validity and efficiency of motion control system,a velocity control algorithm via control Lyapunov function is designed.The experiment result of trajectory tracking of mobile robot demonstrates the real-time and precision of the control system,which can fit the requirement of running reliably under different environments.
出处
《测控技术》
CSCD
北大核心
2010年第10期47-50,共4页
Measurement & Control Technology
基金
山东省教育厅资助项目(J00g54)
