【作者】 霍伟； 程躜；

【Author】 Huo Wei, Cheng Zuan The Seventh Research Division, Beijing University of Aeronautica and Astronautics,Beijing 100083

【机构】 北京航空航天大学第七研究室；

【摘要】 本文研究移动机器人拖车后退跟踪指定路径的控制设计问题。文中推导出带离轴式拖车移动机器人系统的速度逆推关系式,在此基础上利用拖车后退控制的“速度逆推”设计思路和输出反馈线性化方法提出了满足两种不同要求的后退路径跟踪控制律,并分析了路径跟踪误差的收敛性。实验结果验证了所提出方法的有效性。更多还原

【Abstract】 The backward movement control for a mobile robot with n trailers to follow a given path is investigated in this paper. First, the iterative inverse velocity relationship for the robot-trailer system with off-axle hitching is derived. By the use of the control design scheme based on inverse velocity relationship and output-feedback linearization method, two backward path-following control laws are presented for different task requirements and the convergence of closedloop systems is analyzed. Experiment result demonstrates effectiveness of the proposed method.更多还原