非完整轮式移动机器人自主运动控制的自适应导航规划

2018 International Conference on Computer, Control, Electrical, and Electronics Engineering (ICCCEEE) Pub Date : 2018-08-01 DOI:10.1109/ICCCEEE.2018.8515856

Walied M. E. Mahgoub, I. Sanhoury

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引用次数: 1

摘要

为了控制差动驱动轮式移动机器人的自主运动过程，提出了导航规划器。通过对各种轨迹的仿真工作，完成了若干运动任务。通过应用反馈控制律来保证跟踪控制器随前馈增益的变化而工作，从而实现姿态的稳定。仿真结果验证了所采用控制器的有效性，实现了快速响应。

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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Adaptive Navigation Planner for Autonomous Locomotion Control of Nonholonomic Wheeled Mobile Robot

Navigation planner is proposed to control the autonomous locomotion process of the differentially-driven wheeled mobile robot (WMR). Several motion tasks are carried out through the simulation works for various kinds of trajectories. The postures stabilizing were realized through applying a feedback control law to ensure the tracking controller operates with the feedforward gains' variation. The Simulation results demonstrate the effectiveness of the utilized controller, in which a fast response is achieved.

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来源期刊

2018 International Conference on Computer, Control, Electrical, and Electronics Engineering (ICCCEEE)

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