| 基于速度控制的轮式滑动转向移动机器人航向跟踪 |
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| 引用本文： | 熊光明,曹晓燕,高峻峣,陆际联. 基于速度控制的轮式滑动转向移动机器人航向跟踪[J]. 北京理工大学学报, 2004, 24(8): 663-666 |
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| 作者姓名： | 熊光明 曹晓燕 高峻峣 陆际联 |
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| 作者单位： | 北京理工大学,机械与车辆工程学院,北京,100081 |
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| 摘 要： | 针对轮式滑动转向移动机器人(WSMR)航向跟踪困难的问题,提出了基于神经网络训练的速度控制航向跟踪算法.介绍滑动转向原理并建立模型,采用虚拟样机仿真软件ADAMS构建WSMR虚拟样机.结合Matlab采用提出的算法对样机航向跟踪进行动态仿真.可视化的三维仿真结果表明,该算法可有效地实现航向跟踪.
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| 关 键 词： | 滑动转向 轮式移动机器人 航向跟踪 虚拟样机 速度控制 轮式 滑动转向 移动机器人 航向跟踪 Speed Control Based 仿真结果 三维 可视化 动态仿真 跟踪算法 Matlab 结合 ADAMS 仿真软件 虚拟样机 建立模型 原理 网络训练 |
| 文章编号： | 1001-0645(2004)08-0663-04 |
| 收稿时间： | 2003-09-22 |
| 修稿时间： | 2003-09-20 |
Heading Following of Wheeled Skid-Steer Mobile Robots Based on Speed Control |
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| XIONG Guang-ming,CAO Xiao-yan,GAO Jun-yao and LU Ji-lian. Heading Following of Wheeled Skid-Steer Mobile Robots Based on Speed Control[J]. Journal of Beijing Institute of Technology(Natural Science Edition), 2004, 24(8): 663-666 |
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| Authors: | XIONG Guang-ming CAO Xiao-yan GAO Jun-yao LU Ji-lian |
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| Affiliation: | School of Mechanical and Vehicular Engineering, Beijing Institute of Technology, Beijing100081, China;School of Mechanical and Vehicular Engineering, Beijing Institute of Technology, Beijing100081, China;School of Mechanical and Vehicular Engineering, Beijing Institute of Technology, Beijing100081, China;School of Mechanical and Vehicular Engineering, Beijing Institute of Technology, Beijing100081, China |
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| Abstract: | As heading following in wheeled skid-steer mobile robots(WSMR) is difficult to implement, an algorithm based on neural network speed control is presented in this paper. Dynamic modeling and theory for wheeled skid-steer are first introduced. Then, its parameterized model is built up by ADAMS. A co-simulation is then performed using ADAMS and Matlab. Dynamic, graphic display of simulation results shows that the control strategy can realize an efficient control of the WSMR. |
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| Keywords: | skid-steer wheeled mobile robot heading following virtual prototype |
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