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为了使移动机器人能在动态环境中安全地运动并探索周围的情况,针对动态变化的环境中,传感器范围有限的一类非完整系统-独轮移动机器人,提出了一种新的被动式目标跟踪控制方法,使其能在动态变化的环境中有效地避免静止和运动的障碍物。文中在极坐标下,考虑了移动机器人和障碍物的相对运动,首次将极坐标变换与李雅普诺夫分析方法结合起来,提出一种解决独轮机器人的位置跟踪和避障问题的方便实用的被动式控制算法;更重要的是,所提出的方法考虑了运动控制的饱和约束。通过仿真实验证明了提出的独轮机器人多目标控制的李亚普洛夫设计的有效性,为进一步研究多移动机器人或具更复杂的非完整约束机器人的多目标控制奠定了基础。
In order to make the mobile robot move safely in the dynamic environment and explore the surroundings, a new passive target tracking control is proposed for a class of nonholonomic mobile robot with a limited range of sensors in a dynamically changing environment. Method that enables it to effectively avoid static and moving obstacles in a dynamically changing environment. In polar coordinates, the relative motion of moving robot and obstacle is considered. For the first time, the polar coordinate transformation is combined with Lyapunov analysis method, and a convenient and practical method of solving the problem of position tracking and obstacle avoidance for unicycle is proposed. Control algorithm; more importantly, the proposed method takes into account the saturation constraints of motion control. The simulation results show the validity of the Lyapunov design for multi-objective control of unicycle robots, which lays the foundation for further research on multi-objective control of multi-mobile robots or more complex nonholonomic constrained robots.