• 主题
高级搜索  >
历史搜索 清空历史
首页> 外文会议>IEEE Annual Conference on Decision and Control >A trajectory tracking control design for a skid-steering mobile robot by adapting its desired instantaneous center of rotation
【24h】

A trajectory tracking control design for a skid-steering mobile robot by adapting its desired instantaneous center of rotation

机译：滑移移动机器人所需的瞬时旋转中心的轨迹跟踪控制设计

获取原文
页面导航
  • 摘要
  • 著录项
  • 相似文献
  • 相关主题

摘要

A skid-steering mobile robot steers by creating a moment that is larger than the frictional moment which results in a lateral slippage also known as skidding. This moment is in turn generated by a difference of the forces originated from the two sides of the robot. Tracking a given trajectory using this type of steering mechanism is not easy since it requires to relate skidding to steering. A necessary condition for the stability of skid-steering mobile robots is that the longitudinal component of the instantaneous center of rotation (ICR) resides within the robot dimension. In the present work, we propose a novel trajectory-tracking control design using a backstepping technique that guarantees the Lyapunov stability and that satisfies this necessary condition by relating the longitudinal component of the “desired ICR” to the curvature of a given trajectory and the reference linear speed. Finally, we compare the performance of the proposed controller to that of other existing controllers for skid-steering mobile robots and show the robustness of the proposed controller even in the presence of modeled sensory noise and control time delay in simulation.
机译：滑移移动机器人通过产生一个大于摩擦力矩的力矩来进行转向，这会导致横向滑动，也称为打滑。反过来，此力矩是由源自机器人两侧的力的差异产生的。使用这种类型的转向机构跟踪给定的轨迹并不容易，因为它需要将打滑与转向相关联。防滑转向移动机器人稳定性的必要条件是瞬时旋转中心（ICR）的纵向分量位于机器人尺寸之内。在当前的工作中，我们提出了一种使用反步技术的新型轨迹跟踪控制设计，该设计可确保Lyapunov稳定性，并且通过将“所需ICR”的纵向分量与给定轨迹的曲率和参考相关联来满足此必要条件。线速度。最后，我们将提出的控制器与其他现有的滑行转向移动机器人控制器的性能进行了比较，并显示了提出的控制器的鲁棒性，即使在模拟的感官噪声和控制时间延迟存在的情况下也是如此。

著录项

相似文献

  • 外文文献
  • 中文文献
  • 专利
获取原文

客服邮箱：kefu@zhangqiaokeyan.com

京公网安备：11010802029741号 ICP备案号：京ICP备15016152号-6 六维联合信息科技 (北京) 有限公司©版权所有

  • 客服微信

  • 服务号