非完整移动机器人的最优跟踪控制

ISIE 2001. 2001 IEEE International Symposium on Industrial Electronics Proceedings (Cat. No.01TH8570) Pub Date : 2001-06-12 DOI:10.1109/ISIE.2001.932035

K.H. Park, S. Cho, Y.W. Lee

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引用次数: 11

摘要

非完整移动机器人的位置控制问题是一类重要的控制问题。它从人类操作员那里接受任务，并且必须在包括人体和其他机器人等许多障碍物的环境中执行给定的任务。因此，移动机器人必须自己完成给定的任务和路径规划。本文讨论了移动机器人在未知环境中导航的智能跟踪控制。通过建议的智能控制，移动机器人能够根据实际传感器数据进行在线运动规划，实现到运动目标距离的最小化。仿真结果表明，所提方案具有准确的跟踪能力和鲁棒性。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Optimal tracking control of a nonholonomic mobile robot

The position control problem of a nonholonomic mobile robot has been an important class of control problem. It receives a task from a human operator, and must perform the given task in the environment including a lot of obstacles such as human bodies and other robots. Therefore the mobile robot must perform given tasks and path planning by itself. In this paper we discuss an intelligent tracking control of navigating a mobile robot in an unknown environment. Through suggested intelligent control, a mobile robot is able to perform minimization of the distance to the moving goal by online motion planning from actual sensor data. Simulation shows the effectiveness of accurate tracking capability and the robust performance of proposed scheme.

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ISIE 2001. 2001 IEEE International Symposium on Industrial Electronics Proceedings (Cat. No.01TH8570)

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