关键词: 轨迹跟踪, 路径评价模型, 路径复杂度, 路径评价函数

Abstract: In addressing the trajectory tracking control for existing mobile robots, the predominant has been focused on mitigating inherent self-pose errors, while the influence of trajectory curvature on tracking control has been overlooked. In order to further enhance the tracking accuracy of intelligent mobile wire-launching robots, a control approach is introduced herein, denoted as the trajectory evaluation model controller（TEMC）, which is predicated upon a trajectory evaluation model. Firstly, the establishment of kinematic models pertinent to mobile robots is undertaken. Secondly, to articulate the geometric interrelation between the reference trajectory and the robot, a trajectory evaluation model（TEM） is formulated. The model incorporates curvature and its rate of change to quantify trajectory complexity. A comprehensive trajectory evaluation function is devised, amalgamating trajectory complexity with factors of self-pose errors. Additionally, utilizing a back propagation neural network, a controller founded upon the trajectory evaluation model is introduced, accompanied by a presentation of the stability proof. Finally, the efficacy of the trajectory evaluation model is substantiated through rigorous simulation, and the essential parameter range within the model is determined empirically via experimental methods. It is demonstrated that the TEMC yields a tracking precision enhancement of over 48% compared to conventional adaptive backstepping controllers.

Key words: trajectory tracking, trajectory evaluation model, trajectory complexity, trajectory evaluation function