Slip-Compensation-Based Path Tracking Control for Tracked Robots Using VBEKF and Backstepping Control

IF 5.2 2区 计算机科学 Q2 ROBOTICS
Xin Zhao, Yuming Chen, En Lu, Wu Tao, Hui Wang, Qian Zhang, Rongbing Fu
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引用次数: 0

Abstract

Tracked robots are widely used in agriculture, military, mining, and other fields. During the traveling process of tracked robots, the complex interaction between the tracks and the ground causes slip, which leads to problems such as low path tracking accuracy and poor control stability. To solve this thorny problem, quantitative control compensation parameters are generally obtained through experiments, or extended Kalman filter (EKF) is designed based on Gaussian noise to estimate slip parameters during motion. However, the sensor measurement noise of tracked robots usually exhibits a non-Gaussian distribution in uneven terrain and variable soil conditions. Under such circumstances, these methods exhibit larger errors and demonstrate inadequate adaptability. Therefore, this paper proposes a variational Bayesian EKF (VBEKF) algorithm for slip parameters estimation, and designs a slip compensation path tracking controller to improve the accuracy and adaptability of the control system of tracked robots under complex operating conditions. The main contributions of this paper are as follows: (1) The non-Gaussian noise was re-modeled using the Student's t-distribution, and combined with variational Bayesian, the VBEKF algorithm was designed. This algorithm can more accurately estimate the slip parameters between the tracks and soil under complex and varying operating conditions, demonstrating enhanced adaptability. (2) Based on the backstepping control principle, a path tracking controller with slip parameter compensation was designed for tracked robots. This controller dynamically adjusts its output control based on the estimated slip parameters to eliminate the impact of slip between the tracks and soil on path tracking accuracy. Finally, the effectiveness of the method was demonstrated through simulations and experiments. This study can improve the adaptability and stability of tracked robots under complex and variable operating conditions, ensuring accurate and rapid task completion, and has broad application prospects.

Abstract Image

基于VBEKF和反步控制的履带式机器人滑动补偿路径跟踪控制
履带式机器人广泛应用于农业、军事、矿山等领域。履带式机器人在行走过程中,由于履带与地面之间复杂的相互作用导致滑动,从而导致轨迹跟踪精度低、控制稳定性差等问题。为了解决这一棘手的问题,通常通过实验获得定量控制补偿参数,或者基于高斯噪声设计扩展卡尔曼滤波(EKF)来估计运动过程中的滑移参数。然而,履带式机器人的传感器测量噪声在不平坦地形和可变土壤条件下通常呈现非高斯分布。在这种情况下,这些方法的误差较大,适应性不足。为此,本文提出了一种变分贝叶斯EKF (VBEKF)算法用于滑移参数估计,并设计了滑移补偿路径跟踪控制器,以提高履带机器人控制系统在复杂工况下的精度和自适应性。本文的主要贡献如下:(1)利用Student's t分布对非高斯噪声进行重新建模,并结合变分贝叶斯设计了VBEKF算法。该算法能在复杂多变的工况下更准确地估计轨道与土体之间的滑移参数,具有较强的适应性。(2)基于反步控制原理,设计了带滑移参数补偿的履带机器人路径跟踪控制器。该控制器根据估计的滑移参数动态调整其输出控制,以消除履带与土壤之间的滑移对路径跟踪精度的影响。最后,通过仿真和实验验证了该方法的有效性。本研究可以提高履带式机器人在复杂多变操作条件下的适应性和稳定性,保证准确快速地完成任务,具有广阔的应用前景。
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来源期刊
Journal of Field Robotics
Journal of Field Robotics 工程技术-机器人学
CiteScore
15.00
自引率
3.60%
发文量
80
审稿时长
6 months
期刊介绍: The Journal of Field Robotics seeks to promote scholarly publications dealing with the fundamentals of robotics in unstructured and dynamic environments. The Journal focuses on experimental robotics and encourages publication of work that has both theoretical and practical significance.
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