【摘要】 为了研究轮式移动机器人的控制问题,用Newton-Euler法建立了一个具有6个主动轮且都能独立转向的移动机器人的动力学模型。用一种智能比例微分(PD)控制方法,实现了机器人的路径跟踪。该控制方法参考模糊控制的思想,将位置误差和方向误差分成若干个模糊集合,使控制器的参数能根据机器人的状态及外部环境进行调节,同时解决了各轮控制命令的协调问题。仿真结果表明,该控制策略是行之有效的。更多还原

【Abstract】  Tracking control of wheeled robots was studied using a dynamic model of a 6wheel robot, where all wheels are driven and capable of steering, using the NewtonEuler method. An intelligent proportional differential (PD) control strategy was used for path tracking with the control vectors satisfying kinematic constraints. Position and orientation errors were divided into several fuzzy sets with the controller parameters adapting to different error situations. Simulation results showed the effectiveness of the wheeled robot controller.更多还原