双轮差速驱动机器人的设计与建模

IF 2.5 3区计算机科学 Q2 AUTOMATION & CONTROL SYSTEMS

International Journal of Control Automation and Systems Pub Date : 2024-07-02 DOI:10.1007/s12555-023-0288-8

John Moritz, Mishek Musa, Uche Wejinya

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引用次数: 0

摘要

现有许多关于平衡双轮差动驱动机器人（TWDDR）的出版物，内容涉及动态建模、运动学建模、路径规划、控制结构设计和/或模拟。然而，很少有论文能以一种全面的方式涵盖所有这些内容，让机器人研究初学者也能轻松掌握。本文将逐步详细介绍机器人设计过程，包括动态建模、运动学建模、线性化、自主导航、路径规划和稳定性控制。本文介绍了一种级联 PID 控制架构，该架构能够在 1 秒内稳定机器人，且稳态误差最小，并能抑制较大的力和扭矩干扰。此外，还展示了一种基于人工势场的高级路径规划算法。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

查看原文本刊更多论文

Design and Modeling of a Two-wheeled Differential Drive Robot

There are many existing publications on balancing two-wheeled, differential drive robot (TWDDR) covering dynamic modeling, kinematic modeling, path planning, control architecture design and/or simulations. However, there are few papers that cover all of these in a comprehensive manner that is approachable to beginner robotics researchers. This paper provides step-by-step details of the robotic design process including dynamic modeling, kinematic modeling, linearization, autonomous navigation, path planning, and stability control. A cascaded PID control architecture is presented that is capable of stabilizing the robot in less than 1 s with minimal steady-state error and performing large force and torque disturbance rejection. Additionally, a high-level path planning algorithm based on artificial potential fields is demonstrated.

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来源期刊

International Journal of Control Automation and Systems 工程技术-自动化与控制系统

CiteScore

5.80

自引率

21.90%

发文量

343

审稿时长

8.7 months

期刊介绍： International Journal of Control, Automation and Systems is a joint publication of the Institute of Control, Robotics and Systems (ICROS) and the Korean Institute of Electrical Engineers (KIEE). The journal covers three closly-related research areas including control, automation, and systems. The technical areas include Control Theory Control Applications Robotics and Automation Intelligent and Information Systems The Journal addresses research areas focused on control, automation, and systems in electrical, mechanical, aerospace, chemical, and industrial engineering in order to create a strong synergy effect throughout the interdisciplinary research areas.