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中文摘要：
针对轮式移动机器人路径跟随问题，提出一种多移动机器人路径跟随控制方案。首先对其运动学模型经过适当增补，将基于输入输出反馈线性化的横向位置跟踪控制方案和基于古典校正的纵向跟随控制方案相结合，这2种方案互为前提，相互依托，进而制定出相应的多移动机器人路面跟随控制方案。研究结果表明：该方法简单实用，无论在横向位置跟踪和纵向位置跟随上都得到较好的控制效果，动态特性好，稳态精度高。
英文摘要：
A following control law that is conceptually simple and straightforward for wheeled mobile robot was proposed. Firstly, the kinematical model for wheeled mobile robot was supplemented, then the kinematics model included feedback-linearization tracking control strategy on lateral side with classic correction control on longitudinal side was decoupled. These two controllers were interdependent and coordinated. The results show that this method exerts better control effect in wide range of speed, shorter time response, higher precision and better stability.
同期刊论文项目
同项目期刊论文
Semiglobal Stabilization for Nonholonomic Mobile Semiglobal Stabilization for Nonholonomic Mobile Ro
Robust exponential stabilization of nonholonomic wheeled mobile robots with uncalibrated visual para
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