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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.
The optimal control of wheeled robot at high speed is one of the key technologies of outdoor mobile robot.This paper starts with the analysis of body dynamics model and typical road mode, and discusses the evaluation function of optimal control and its solution method. The simulation research is carried out on the computer, and then the method of real-time control table retrieval and keyword determination is discussed. The suboptimal sine function control method is proposed. The experimental results show that the method has practical application value.