拖车式移动机器人的轨迹控制

Proceedings of 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '93) Pub Date : 1993-07-26 DOI:10.1109/IROS.1993.583941

Michiyo Nakamura, S. Yuta

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引用次数: 21

摘要

提出了一种拖车式移动机器人的控制算法。利用该算法，拖车可以沿直线和圆弧曲线向前和向后移动。设计并实现了拖车式移动机器人的直线或圆弧路径控制系统。利用自制的自主移动机器人Yamabico进行了数值仿真和实验，验证了所提控制方法的有效性。

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Trajectory control of trailer type mobile robots

A control algorithm for a trailer-type mobile robot is proposed. With this algorithm, a trailer can move along a straight line and a circular arc curve both in forward and backward directions. A trailer command system which specifies the path of trailer type robot as straight lines or circular arcs has also been designed and implemented on a real experimental trailer type mobile robot. The effectiveness of the proposed control method is verified by numerical simulations and experiments using the authors' self-contained autonomous mobile robot, the Yamabico.

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来源期刊

Proceedings of 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '93)

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