Trajectory tracking of mobile robots based on dynamics of behavior

doi:10.3778/j.issn.1002-8331.2010.11.073

Computer Engineering and Applications ›› 2010, Vol. 46 ›› Issue (11): 240-242.DOI: 10.3778/j.issn.1002-8331.2010.11.073

• 工程与应用 • Previous Articles Next Articles

Trajectory tracking of mobile robots based on dynamics of behavior

XIE Jing，FU Wei-ping，YANG Jing

Faculty of Mechanical and Precision Instrument Engineering，Xi’an University of Technology，Xi’an 710048，China

Received:2008-10-06 Revised:2009-03-03 Online:2010-04-11 Published:2010-04-11
Contact: XIE Jing

基于行为动力学方法的移动机器人轨迹追踪

谢敬，傅卫平，杨静

西安理工大学机械与精密仪器工程学院，西安 710048

通讯作者: 谢敬

Abstract

Abstract: Trajectory tracking of wheeled mobile robots is studied based on dynamics of behavior.The robot’s heading direction and velocity are specified as behavioral variables.The tracking attractor dynamic equation and approaching attractor dynamic equation are constructed.The relative distance between the robot and a desired point in a tracked trajectory is integrated into velocity attractor equations as an indirect coupled parameter.The convergence of the dynamical systems is analyzed.At last，the simulation results demonstrate the feasible realization of trajectory-tracking，and also the validity and feasibility of this method is proved.The mobile robot tracks the trajectory effectively.

Key words: dynamics of behavior, mobile robots, trajectory tracking

摘要： 研究了基于行为动力学方法的移动机器人轨迹追踪。在总结行为动力学理论的基础上，根据轨迹追踪任务要求，确定航向角和速度作为行为变量，同时构建了接近吸引子动力学方程，并在考虑机器人与路径期望点之间距离这一间接耦合参数基础上，建立了速度动力学方程，并分析了该动力系统的收敛性。最后的仿真结果表明该方法正确、可行，且机器人能有效地完成追踪任务。

关键词: 行为动力学方法, 移动机器人, 轨迹追踪

CLC Number:

TP242

XIE Jing，FU Wei-ping，YANG Jing. Trajectory tracking of mobile robots based on dynamics of behavior[J]. Computer Engineering and Applications, 2010, 46(11): 240-242.

谢敬，傅卫平，杨静. 基于行为动力学方法的移动机器人轨迹追踪[J]. 计算机工程与应用, 2010, 46(11): 240-242.

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Trajectory tracking of mobile robots based on dynamics of behavior

基于行为动力学方法的移动机器人轨迹追踪

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