移动机器人车队轨迹跟踪的虚拟机构设计

2013 10th International Conference on Electrical Engineering, Computing Science and Automatic Control (CCE) Pub Date : 2013-12-02 DOI:10.1109/ICEEE.2013.6676008

J. González-Sierra, E. Aranda-Bricaire

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引用次数: 8

摘要

本文提出了一种控制律，利用由一组独轮车型机器人组成的多智能体机器人系统来模拟标准n型拖车的行为。采用滑动主销技术，以减少或完全消除这类系统的拖车在遵循一定曲率半径的轨迹时出现的偏离(过度转向现象)。数值仿真验证了控制律的性能，并对采用滑动主销技术和不采用滑动主销技术的控制律进行了比较。

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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Design of a virtual mechanism for trajectory tracking of convoys of mobile robots

This paper proposes a control law to emulate the behavior of a standard n-trailer using a multi-agent robot system conformed by a group of unicycle-type robots. A sliding kingpin technique is used in order to reduce or completely eliminate the off-tracking (oversteer phenomenon) that the trailers of this kind of systems exhibit when they are following trajectories with a certain radius of curvature. Numerical simulations show the performance of the control law and a comparison is made between the control law with and without the sliding kingpin technique.

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来源期刊

2013 10th International Conference on Electrical Engineering, Computing Science and Automatic Control (CCE)

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