【摘要】 针对移动机器人的运动学模型,以Pioneer 3DX型轮式移动机器人为研究对象,建立了采用两轮差动驱动控制方式的移动机器人运动学模型,提出了基于Lyapunov直接法的移动机器人运动控制方法,设计了移动机器人控制器。对设计的控制器进行了直线跟踪和圆轨迹跟踪仿真实验,仿真结果表明轮式移动机器人能够有效地跟踪期望轨迹。本文提出的方法不但能够增强移动机器人控制器的调节能力,而且在一定程度上简化了控制器的设计,可应用于移动机器人运动控制实际工程中。更多还原

【Abstract】 In view of the kinematic model of mobile robot,an application of Lyapunov in motion control of mobile robot robots was established based on pionieer 3DX mobile robot system.A motion control method for mobile robot based on Lyapunov was proposed,and the controller of mobile robot was designed.The simulation experiment of linear tracking and circular trajectory tracking was carried out.The experimental results show that the mobile robot can track desired trajectory effectively.The validity was verified through the simulation results in pioneer 3DX mobile robots system.The control method based on Lyapunov can be applied to practical engineering.更多还原