Trajectory Tracking Control of Wheeled Mobile Robots Based on Integrated Intelligent Steering

摘要：

Aiming at solving the problem of trajectory tracking of the wheeled mobile robot,the paper presents an adaptive trajectory tracking method based on the kinematics model. After analyzing the shortage of classical trajectory tracking control rule,the idea of the single point preview is introduced to the method to improve the effect of trajectory tracking,as well as an artificial field is combined with posture error to navigate the mobile robot. The structure of the control rule is simple and robust. Computer simulations indicate the method makes the approaching trajectory of the mobile robot becomes more perfect.

关键词： mobile robot trajectory tracking single point preview artificial field control rule.

作者: Kunpeng Li Sunan Wang Hongyu Di Hongliang Li

作者单位: School of Mechanical Engineering,Xian Jiaotong University Xian 710049,Shaanxi Province,China

会议类型: 国际会议

会议名称: 2009 9th International Conference on Electronic Measurement & Instruments(第九届电子测量与仪器国际会议 ICEMI2009)

会议地点: 北京

会议语种:英文

页码: 3083-3088

在线出版日期: 2009-08-16（万方平台首次上网日期，不代表论文的发表时间）