一种基于动力学模型的高速轮式移动机器人漂移运动控制方法

doi:10.3724/SP.J.1218.2014.00137

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引用本文:
赵磊, 王鸿鹏, 董良, 刘景泰. 一种基于动力学模型的高速轮式移动机器人漂移运动控制方法[J]. 机器人, 2014, 36(2): 137-146.DOI: 10.3724/SP.J.1218.2014.00137. ZHAO Lei, WANG Hongpeng, DONG Liang, LIU Jingtai. A Drift Control Method for High-speed Wheeled Mobile Robot Based on Dynamic Model. ROBOT, 2014, 36(2): 137-146. DOI: 10.3724/SP.J.1218.2014.00137.

摘要

针对高速轮式移动机器人，提出了一种漂移运动控制方法．首先以统一轮胎模型为基础建立了移动机器人在复杂工况下的动力学模型；针对系统模型非线性、强耦合等特点，利用反馈线性化的方法设计了一种基于动力学模型的漂移运动控制器，该控制器实现了对目标姿态角及角速度的跟踪控制；针对现有视觉、GPS等测量手段实时性差、不能满足漂移运动任务的缺点，设计实现了位置速度测量单元．仿真及实验验证了该控制器的有效性．

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关键词 ：轮式机器人, 高速漂移, 动力学建模, 方向控制

Abstract：

A drift control method is presented for high-speed wheeled mobile robot. Firstly, the dynamic model of mobile robot under complex conditions is established based on the uniform tire model. Subsequently, while the dynamic model is nonlinear and strongly coupled, a drift controller is designed based on the dynamic model by using feedback linearization method. This controller is able to track some desired posture and angular velocity. As common measure methods, such as vision, GPS, do not have good real-time performance, a position-velocity-measurement-unit is designed to serve for the task of drifting. The drift controller is validated by simulation and experiments.

Key words： wheeled robot high-speed drift dynamic modeling direction control

收稿日期: 2013-05-24 录用日期: 2013-09-03

TP242

基金资助:

国家自然科学基金资助项目（61105096）；国家863计划资助项目（2012AA041403）；南开大学基本科研业务费资助项目

通讯作者: 王鸿鹏，wanghp@robot.nankai.edu.cn E-mail: wanghp@robot.nankai.edu.cn

作者简介: 赵磊（1987-），男，硕士生。研究领域：高速移动机器人漂移运动控制。
王鸿鹏（1979-），男，博士，副教授。研究领域：模式识别与智能系统，智能机器人技术，虚拟现实与仿真技术
董良（1990-），男，硕士生。研究领域：机器人行为监测，人体动作识别。

链接本文:

https://robot.sia.cn/CN/10.3724/SP.J.1218.2014.00137 或 https://robot.sia.cn/CN/Y2014/V36/I2/137

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