【摘要】 论文针对移动机器人的链式系统提出了一种实时运动规划方法,通过在线更新复合分段常值与多项式输入控制律的系数,来驱使系统到达预定的目标,并将其应用于两伺服直流电机独立控制轮式移动机器人,采用计算机系统以及伺服放大器实现其控制,控制的结果达到了预期的效果。更多还原

【Abstract】 This paper pr esents a method of real-time motion planning for the chained-form of wheeled mobile robot.It can drive the systems to the desirable destination by on-line updating the coefficients of mixed piecewise-constant and polynomial input.T his approach is applied to the wheeled mobile robot controlled independently by two servo motors,and performed in the computer system and servo amplifier,the result of control is very satisfied.更多还原