【摘要】 结合微小型轮式机器人灵活简便的控制特点,提出了一种新的目标导向运动控制算法,它采用首尾相切的直线段和圆弧构成基本运动路径,可以轻易地实现机器人的入口控制问题。与普通目标导向算法相比,该算法运算十分简单,控制代价非常小,极易在微小型机器人上实现和推广。仿真结果验证了控制算法的有效性。更多还原

【Abstract】 Goal directed motion control is to design a path for controlled device to approach the goal such as an entrance or exit or anywhere else you want to go.A novel goal directed motion control algorithm is presented.It simply applies a set of lines and arcs to consist the basic motion path,which are tangent in series.Compared with normal goal directed motion control algorithms,this algorithm has less control cost because of the simple and fast computation.It is easier to be applied and realized in micro robots.Simulation has verified the validity of the algorithm.更多还原