[1]祖莉,王华坤,范元勋.户外小型智能移动机器人运动轨迹跟踪控制[J].南京理工大学学报(自然科学版),2003,(01):56-59.
 ZuLi WangHuakun FanYuanxun.Trajectory Tracking Control of Small Outdoor Intelligent Mobile Robots[J].Journal of Nanjing University of Science and Technology,2003,(01):56-59.
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户外小型智能移动机器人运动轨迹跟踪控制()
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《南京理工大学学报》(自然科学版)[ISSN:1005-9830/CN:32-1397/N]

卷:
期数:
2003年01期
页码:
56-59
栏目:
出版日期:
2003-02-28

文章信息/Info

Title:
Trajectory Tracking Control of Small Outdoor Intelligent Mobile Robots
作者:
祖莉王华坤范元勋
南京理工大学机械工程学院, 南京210094
Author(s):
ZuLi WangHuakun FanYuanxun
School of Mechanical Engineering,NUST,Nanjing 210094
关键词:
移动机器人 动力学 轨迹跟踪 后退方法
Keywords:
mobile robot s dynamics trajectory tracking backstepping method
分类号:
TP242
摘要:
该文根据户外小型智能移动机器人的应用特点研究了轨迹跟踪控制。基于机器人的动力学模型 ,利用后退方法的思想 ,设计了全局收敛的稳定可靠的跟踪控制律 ,提高了移动机器人在不确定性环境中工作的鲁棒性 ,比基于运动学模型设计的控制律更加适宜于工程应用。经仿真计算 ,验证了该控制方法的正确性 ,为户外小型智能移动机器人轨迹跟踪的实用控制方法提供了理论依据
Abstract:
The paper studied the t rajectory tracking control of small outdoor intelligent mobile robots, aiming at their applicat ion requirements. According to the backstepping idea of design, a stable and reliable cont rol method was designed based on dynamics model. The control method is global convergent and makes mobile robots robust while working in the unknown environment. Compared w ith the control method based on kinematics model, it’ s more applicable to engineering. Finally, the experiment results validated the effects of the method. Small outdoor intelligent mobile robots can use the control method as practical tool for trajectory tracking.

参考文献/References:

1 Krstic M, Kanellakopoulos I, Ko kotovic P V. Nonlinear and adaptive control desig n [M] . New Yor k: John Wiley, 1995.
2 Samson C, Ai-t Abderrahim K. Feedback control of a nonholonomic wheeled cart in Cartesian space[ A] . In: Proc IEEE Int Conf Robotics and Automation[ C] . Sacramento: California, 1991. 1 136~ 1 141.

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备注/Memo

备注/Memo:
祖 莉  女  26 岁 博士生
更新日期/Last Update: 2013-03-17