计算机工程与应用 ›› 2007, Vol. 43 ›› Issue (17): 114-116.

• 产品、研发、测试 • 上一篇    下一篇

微小型履带式机器人路径跟踪控制器设计

成伟明,唐振民,赵春霞   

  1. 南京理工大学 计算机科学与技术系,南京 210094
  • 收稿日期:1900-01-01 修回日期:1900-01-01 出版日期:2007-06-11 发布日期:2007-06-11
  • 通讯作者: 成伟明

Path tracking controller design of tracked micro-robot

CHENG Wei-ming,TANG Zhen-min,ZHAO Chun-xia   

  1. Dept. of Computer Science,Nanjing University of Science and Technology,Nanjing 210094,China
  • Received:1900-01-01 Revised:1900-01-01 Online:2007-06-11 Published:2007-06-11
  • Contact: CHENG Wei-ming

摘要: 根据履带式机器人运动学特性与轮式机器人的关系,给出了履带式微小型机器人的路径跟踪控制器,利用Lyapunov稳定判据证明其全局稳定性。在控制器的设计中考虑了履带-地面作用,引入参数对其描述。考虑了左右履带的速度以及加速度限制,以保证跟踪轨迹的平滑。仿真实验与实际实验验证了该方法具有控制精确,全局稳定收敛与简单实用的优点。

Abstract: A path tracking controller of tracked robot is designed based on the kinematic relationship between tracked micro-robot and wheeled robot.The controller’s global stability is verified with Lyapunov theory.Parameters is introduced to describe the track-soil interactions.Limitations of speed and speed acceleration is adopted to make the track smooth.Simulations and actual experiment reveals the controller is precise,global stable and easy to be implemented.