| 户外小型智能移动机器人运动轨迹跟踪控制 |
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| 引用本文： | 祖莉,王华坤,范元勋.户外小型智能移动机器人运动轨迹跟踪控制[J].南京理工大学学报(自然科学版),2003,27(1):56-59. |
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| 作者姓名： | 祖莉 王华坤 范元勋 |
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| 作者单位： | 南京理工大学机械工程学院,南京,210094 |
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| 摘 要： | 该文根据户外小型智能移动机器人的应用特点研究了轨迹跟踪控制。基于机器人的动力学模型，利用后退方法的思想，设计了全局收敛的稳定可靠的跟踪控制律，提高了移动机器人在不确定性环境中工作的鲁棒性，比基于运动学模型设计的控制律更加适宜于工程应用，经仿真计算，验证了该控制方法的正确性，为户外小型智能移动机器人轨迹跟踪的实用控制方法提供了理论依据。
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| 关 键 词： | 户外小型智能移动机器人 运动轨迹 轨迹跟踪 后退方法 动力学模型 控制方法 |
| 修稿时间： | 2001年12月7日 |
Trajectory Tracking Control of Small Outdoor Intelligent Mobile Robots |
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| ZuLi,WangHuakun,FanYuanxun.Trajectory Tracking Control of Small Outdoor Intelligent Mobile Robots[J].Journal of Nanjing University of Science and Technology(Nature Science),2003,27(1):56-59. |
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| Authors: | ZuLi WangHuakun FanYuanxun |
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| Abstract: | The paper studied the trajectory tracking control of small outdoor intelligent mobile robots,aiming at their application requirements.According to the backstepping idea of design,a stable and reliable control method was designed based on dynamics model. The control method is global convergent and makes mobile robots robust while working in the unknown environment. Compared with the control method based on kinematics model, it's more applicable to engineering. Finally, the experiment results validated the effects of the method. Small outdoor intelligent mobile robots can use the control method as practical tool for trajectory tracking. |
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| Keywords: | mobile robots dynamics trajectory tracking backstepping method |
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