【摘要】 轮式机器人高速行驶时的最优控制问题,是室外移动机器人的关键技术之一.本文从分析车体动力学模型和典型道路模式入手,仿真讨论了最优控制的评价函数及其求解方法.在计算机上进行了仿真研究,进而讨论了实现实时控制表检索和关键字确定的方法,并提出了次最优的正弦函数控制法,实验结果表明该方法有实际的应用价值.更多还原

【Abstract】 One of the key technology for outdoor mobile robot is the optimal control of the high speed wheeled mobile robot, This article deals with the evaluating functions and methods of their solutions in detail, started by analyzing dynamics models of vehicle and typical modes of roads. Deep study is carried out on computers to survey the way in completing real time control table indexing and keyword defining. We have also given a method called ’next behing best’ sine-function control procedure. Experiments show that the method is of values in application.更多还原