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首页> 外文会议>Mediterranean Conference on Control and Automation >Control of Mobile Robots: Regulate the Velocity Within a Specific Shape
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Control of Mobile Robots: Regulate the Velocity Within a Specific Shape

机译：控制移动机器人：调节特定形状内的速度

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摘要

For the ground mobile robot, the moving speed is a crucial concern when it comes to the applications like, vison-based object detection, map building. In this case, a controller that can strictly regulate the robot speed with the undesired trajectory is need. A mobile robot control strategy is proposed to achieve a satisfactory trajectory tracking task, and at the same time, achieve the speed regulation or limitation task. Compared to traditional methods, the proposed method no longer needed extra output calculation or saturation to the control output, which will avoid the unexpected oscillations and errors. Moreover, the proposed controller has the advantage of that, even if the provided reference signal is larger, or say, violates the desired boundary, the proposed controller can still be able to drive the robot speed within the desired boundary. In addition, the boundary regulation can be ensured, when the given reference signals are not ideal. In this paper, the given reference signal is not considered to be ideal. Moreover, the stabilization and tracking speed regulation problem has been conducted, and the simulation results are also provided with the demonstration of its superiority over the traditional mobile robot control methods.
机译：对于地面移动机器人，移动速度是当涉及到的应用，基于vison的物体检测，地图建筑物时至关重要。在这种情况下，需要用不需要的轨迹严格调节机器人速度的控制器是需要的。提出了一种移动机器人控制策略来实现令人满意的轨迹跟踪任务，同时实现速度调节或限制任务。与传统方法相比，所提出的方法不再需要额外的输出计算或控制输出饱和，这将避免意外的振荡和错误。此外，所提出的控制器具有以下优点，即使提供的参考信号更大，或者说，违反所需边界，所提出的控制器仍然能够在所需边界内驱动机器人速度。另外，当给定参考信号不是理想时，可以确保边界调节。在本文中，给定的参考信号不被认为是理想的。此外，已经进行了稳定和跟踪速度调节问题，并且还提供了对传统移动机器人控制方法的优越性的仿真结果。

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