【作者】 郭丙华； 胡跃明； 吴忻生；

【Author】 GUO Bing-hua, Hu Yue-ming, Wu Xin-sheng (College of Automation Science and Engineering, South China University of Technology, Guangzhou 510640)

【机构】 华南理工大学自动化科学与工程学院；

【摘要】 本文研究非完整轮式移动机器人在未知或已知环境中的运动规划问题。首先通过输入输出线性化方法,设计了一个包含人工势函数的梯度反馈控制器,使得移动机器人产生绕过障碍物的无碰撞路经,然后再驱动机器人跟踪此路经。由于人工势函数是通过传感器实时反馈的信息构造而成的,其结果使得移动机器人能够工作于已知或未知的工作环境,仿真结果证明了该方法是行之有效的。更多还原

【Abstract】 The work presented a method of motion planning for nonholonomic robot. First, the system is input-output linearized, we designed a feedback control law including gradient of artificial potential function to produce a collision free path and then made the robot track the free path. Since the artificial potential function is formulated by using the sensor-based real-time information, and also the motor’s power limits of robot are taken into account, it can work in known or unknown environment. The results of simulation are given to illustrate the effectiveness of the method.更多还原