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为实验用两差动轮机器人设计了一种目标跟踪控制器并给出了控制器参数的确定方法.利用目标跟踪控制器连接实验算法和移动机器人两侧轮子硬件接口这一技术,该控制器可以将两差动轮移动机器人引导至目标点而不会受到执行器最低转速限制的影响.移动机器人距离目标较远时,控制器在缩短机器人与目标点之间距离的同时调整机器人朝向使之指向目标;在不增加算法复杂度的前提下,当机器人接近目标后,控制策略切换为优先调整机器人朝向,然后缩短与目标点的距离.基于KheperaⅢ机器人的仿真和实验结果表明,所设计的目标跟踪控制器可以引导机器人沿着平滑的轨迹,由快及慢,最终以接近最低速的形式到达目标.
A target tracking controller is designed for experiment with two differential wheel robots and a method for determining the parameters of the controller is given.Using the target tracking controller to connect the experimental algorithm and the wheel hardware interface on both sides of the mobile robot, The two differential wheel moving robots can be guided to the target without being affected by the minimum speed of the actuator When the moving robot is far away from the target, the controller adjusts the robot to make it move while shortening the distance between the robot and the target point Point to the target.Under the premise of not increasing the complexity of the algorithm, when the robot approaches the target, the control strategy is switched to preferentially adjust the robot orientation, and then shorten the distance from the target.According to the simulation and experimental results of Khepera Ⅲ robot, the designed target The tracking controller can guide the robot along a smooth trajectory, from fast and slow, eventually reaching the target near the slowest speed.