谈大龙, 宋亦旭, 韩建达. 基于车体加速度反馈的轮式移动机器人轨迹跟踪控制研究[J]. 机器人, 2002, 24(4): 289-292.
引用本文: 谈大龙, 宋亦旭, 韩建达. 基于车体加速度反馈的轮式移动机器人轨迹跟踪控制研究[J]. 机器人, 2002, 24(4): 289-292.
TAN Da-long, SONG Yi-xu, HAN Jian-da. TRAJECTORY TRACKING CONTROL FOR A WHEELED MOBILEROBOT BASED ON VEHICLE ACCELERATION FEEDBACK[J]. ROBOT, 2002, 24(4): 289-292.
Citation: TAN Da-long, SONG Yi-xu, HAN Jian-da. TRAJECTORY TRACKING CONTROL FOR A WHEELED MOBILEROBOT BASED ON VEHICLE ACCELERATION FEEDBACK[J]. ROBOT, 2002, 24(4): 289-292.

基于车体加速度反馈的轮式移动机器人轨迹跟踪控制研究

TRAJECTORY TRACKING CONTROL FOR A WHEELED MOBILEROBOT BASED ON VEHICLE ACCELERATION FEEDBACK

  • 摘要: 本文分析了轮式移动机器人在运行过程中由于动力学不确定性引起的力矩扰动,并提出了一种基于传感器的移动机器人控制方法.在利用线加速度传感器实时测量机器人车体加速度信号的基础上,实现了车体加速度反馈控制,实验证明了该方法的有效性.

     

    Abstract: This paper analyzes the torque disturbance of the wheeled mobile robot due to dynamic uncertainties during motion and presents a sensor based control method for the mobile robot. Based on the real-time measurement of the vehicle's body acceleration using acceleration meters,the vehicle's body acceleration feedback control are implemented. The effectiveness of the method is demonstrated by experiments.

     

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