Many approaches for trajectory tracking of nonholonomic mobile robots have been proposed.Most of them are designed based on the control of robot dynamics or adopt the complicated kinematics control,which are not suitable for real-time engineering applications without powerful computing devices.A real-time tracking controller based on PD controller is presented for nonholonomic mobile robot.This algorithm holds a time cost of only 1～2 ms for each control loop in a 40 MHz embedded controller.A nonlinear-PID based velocity controller for DC driving motors is integrated with the proposed tracking controller to fulfill the path tracking control of a wheeled mobile robot(WMR).To estimate the yaw angle of WMR,a low-cost micro electro-mechanical system(MEMS) measurement unit is employed in the experimental setup.The experimental results show the effectiveness of the proposed method.%对于非完整移动机器人的轨迹跟踪控制已有很多方法提出,但是这些方法或者是基于动力学模型或者是采用复杂的运动学模型,对于缺少强大计算设备且需要实时控制的工程应用是不适合的.本文针对非完整移动机器人提出了一种基于比例微分(proportional-differential,PD)控制器的实时轨迹跟踪控制方法.该方法运行在40 MHz的嵌入式控制器上的控制周期只有1～2 ms.通过将一个用于直流电机控制的非线性PID速度控制器与提出的轨迹控制器进行集成,实现了一个轮式移动机器人的运动控制.机器人轨迹跟踪实验系统中采用微机电系统(micro electro-mechanical system,MEMS)惯性测量单元检测轮式移动机器人的偏航角,实验结果验证了提出方法的有效性.
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