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轮式移动机器人是典型的非完整约束系统.本文基于滚动时域控制策略研究轮式移动机器人的路径跟踪问题.为了既能够保证移动机器人渐近收敛到期望轨迹,又能够保证在线求解的优化问题的滚动可行性,参考轨迹被选为优化问题中的终端等式约束.仿真结果验证了所提出的控制策略的有效性.
The wheeled mobile robot is a typical nonholonomic constraint system.This paper studies the path tracking problem of the wheeled mobile robot based on the rolling time-domain control strategy.In order to ensure the asymptotic convergence of the mobile robot to the desired trajectory and to ensure the optimization of the online solution , The reference trajectory is chosen as the terminal equality constraint in the optimization problem.The simulation results verify the effectiveness of the proposed control strategy.