【摘要】 深入分析了轮式移动机器人的运动状态,建立了WMR路径偏差系统的非线性数学模型。应用小偏差线性化理论,将该多输入多输出非线性系统简化成一个单输入单输出线性系统。然后基于线性二次型调节器理论进行了系统最优控制器的设计,并针对该理论中加权矩阵Q与R难以确定的问题,从控制效果出发,采用自适应遗传算法对其进行了优化。实现了移动机器人对预定轨迹的满意鲁棒跟踪,同时满足了实时性要求。实验结果证明了该方法的正确性与实用性。更多还原

【Abstract】 Firstly,a wheeled mobile robot′s(WMR) motion states are analyzed,and then its path deviation system′s nonlinear mathematic model is established,on the basis of which,by using small deviation linearization theory,a nonlinear multi-input and multi-output system is simplified into a linear single-input and single-output one.Secondly,an optimal control system is designed on a linear quadratic regulator(LQR) basis.Because it is difficult to determine the weighted matrix Q and R,an adaptive genetic algorithm for optimizing the LQR is adopted to control it effectively.In this way the WMR realizes satisfactory robust tracking to the pre-determined trajectory and meets real-time demands at the same time.Finally experimental results show the correctness and validity of this method.更多还原