...
  • 主题
高级搜索  >
历史搜索 清空历史
首页> 外文期刊>IEEE Transactions on Industrial Electronics >On Periodic Control Laws for Mobile Robots
【24h】

On Periodic Control Laws for Mobile Robots

机译：论移动机器人的周期控制律

获取原文
获取原文并翻译 | 示例
           
页面导航
  • 摘要
  • 著录项
  • 相似文献
  • 相关主题

摘要

This paper deals with the control of differentially driven wheeled mobile robots. Two families of wheeled mobile robots are considered: those that are capable of forward motion only and those that can perform forward and backward motion. A unified framework for the control law analysis and design of both robot types is proposed. The control laws are developed within a Lyapunov stability analysis framework. Periodic Lyapunov functions are proposed, and the constructive procedure leads to periodic control laws. These laws are very natural for wheeled mobile robots since they are inspired by the periodic nature of a robot's orientation. The simple form of the control laws enables their easy implementation in practical applications. Global convergence is proven based on the usual requirements for reference velocities. Some important properties of these systems are also treated, such as continuity and the presence of unstable equilibria. Some guidelines for how to choose a suitable control law and its parameters are also given. An extensive simulation study was performed, and the results of the proposed control laws are compared with some control laws from the literature. The algorithms were also validated using the Mirosot-type robot soccer robot and a vision-based system.
机译：本文涉及差动驱动轮式移动机器人的控制。考虑了两个系列的轮式移动机器人：那些只能向前运动的机器人和可以向前和向后运动的机器人。提出了两种机器人控制律分析与设计的统一框架。控制律是在Lyapunov稳定性分析框架内开发的。提出了周期Lyapunov函数，其构造过程导致了周期控制律。这些定律对于轮式移动机器人非常自然，因为它们受机器人定向的周期性影响。控制律的简单形式使其可以在实际应用中轻松实现。根据参考速度的通常要求证明了全局收敛性。还处理了这些系统的一些重要属性，例如连续性和不稳定平衡的存在。还提供了一些有关如何选择合适的控制律及其参数的指南。进行了广泛的仿真研究，并将所提出的控制律的结果与文献中的某些控制律进行了比较。还使用Mirosot型机器人足球机器人和基于视觉的系统对算法进行了验证。

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