【摘要】 针对移动机器人的运动控制问题,该文采用预见预测控制方法加以解决。利用三阶Bezier曲线作为路径生成器生成目标轨迹,并据此设计了最优预见控制器作为系统的前馈补偿;使用扩展卡尔曼滤波器作为预测模型,基于广义预测控制(GPC)实现了PPC运动控制器的设计。仿真实验结果证明了该方法的有效性。更多还原

【Abstract】 This paper proposes a new motion control method for wheeled mobile robots based on preview and predictive control.An optimization preview controller is designed as the forwardfeed to compensate the system delay in term of a desired path.The desired path for robot is generated by a three-order Bezier curve.Extended kalman filter is used as the predictive model.The preview and predictive controller is advanced based on generalized predictive control.Simulation results are provided to justify the proposed scheme.更多还原