| 基于嵌人式环境的智能移动机器人跟踪控制 |
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| 引用本文： | 李嘉琦,王希同,丁肇红.基于嵌人式环境的智能移动机器人跟踪控制[J].上海应用技术学院学报,2016,16(3):271-274. |
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| 作者姓名： | 李嘉琦 王希同 丁肇红 |
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| 作者单位： | 上海应用技术大学电气与电子工程学院，上海201418,上海应用技术大学电气与电子工程学院，上海201419,上海应用技术大学电气与电子工程学院，上海201420 |
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| 基金项目： | 上海应用技术学院毕业设计重点项目（1011C)T155054) |
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| 摘 要： | 基于自主搭建的履带式移动机器人研究了 一个P型迭代学习控制算法，它使移动机器人 能够根据位置和速度偏差的大小及方向，实时控制其在运动过程中的变化趋势，以获得合适的学习 增益矩阵，达到更好的控制效果.利用设计的P型迭代学习控制算法，对履带式移动机器人的路径 规划与路径跟踪实现准确的控制.实验结果表明，迭代学习控制可使履带式移动机器人在路径跟踪 控制过程中有更好的稳定性、准确性和快速性.
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| 关 键 词： | 履带式移动机器人 P型迭代学习控制 MATLAB仿真 |
Tracking Control of Intelligent Mobile Robot Based on Embedded Environment |
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| LI Jiaqi,WANG Xitong and DING Zhaohong.Tracking Control of Intelligent Mobile Robot Based on Embedded Environment[J].Journal of Shanghai Institute of Technology: Natural Science,2016,16(3):271-274. |
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| Authors: | LI Jiaqi WANG Xitong and DING Zhaohong |
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| Institution: | School of Electrical and Electronic Engineering, Shanghai Institute of Technology,Shanghai 201418, China,School of Electrical and Electronic Engineering, Shanghai Institute of Technology,Shanghai 201419, China and School of Electrical and Electronic Engineering, Shanghai Institute of Technology,Shanghai 201420, China |
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| Abstract: | The study was based on the tracked mobile robot, which was built in the laboratory. Mobile robot path tracking control was achieved through P-type iterative learning control algorithm. The algorithm was capable of controlling the moving trends of the mobile robot real-time according to the system deviation and the magnitude and direction of speed deviation. Appropriate learning gain matrix could be obtained to attain better control effect. Experimental results showed that the iterative learning control could make tracked mobile robot path tracking control process better stability, accuracy and rapidity. |
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