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首页> 外文期刊>International Journal of Innovative Computing Information and Control >PATH TRACKING CONTROL OF AN INDOOR TRANSPORTATION ROBOT UTILIZING FUTURE INFORMATION OF THE DESIRED TRAJECTORY
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PATH TRACKING CONTROL OF AN INDOOR TRANSPORTATION ROBOT UTILIZING FUTURE INFORMATION OF THE DESIRED TRAJECTORY

机译：利用期望轨迹的未来信息的室内运输机器人的路径跟踪控制

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摘要

In the aging society with a lower birthrate, a goods transport robot is highly desirable to assist the disabled and to reduce the burden of the family. Therefore, an indoor transportation robot with omnidirectional wheels for things transportation has been developed to assist the daily life of the elderly. Since this transportation robot mainly works in a narrow indoor environment, it must precisely track the predesigned path to avoid colliding the furniture while performing its task. In this study, a digital acceleration controller utilizing the future information of the desired trajectory by applying a linear quadratic integral technology was proposed to ensure the tracking accuracy of this robot. The digital acceleration control algorithm could effectively suppress the nonlinear friction problem which seriously affects the tracking accuracy of the robot. Then, the tracking accuracy of this robot is significantly improved by effectively applying the preview of the desired signal. The circular path tracking simulations are carried out using the proposed controller; compared with the digital acceleration controller, the results demonstrate the feasibility and effectiveness of the proposed control method and the path-tracking accuracy are improved.
机译：在出生率较低的老龄化社会中，非常需要一种货物运输机器人来帮助残疾人并减轻家庭负担。因此，已经开发了具有用于物体运输的全向轮的室内运输机器人，以辅助老年人的日常生活。由于此运输机器人主要在狭窄的室内环境中工作，因此它必须精确跟踪预先设计的路径，以免在执行任务时碰撞家具。在这项研究中，提出了一种数字加速度控制器，它通过应用线性二次积分技术来利用期望轨迹的未来信息，以确保该机器人的跟踪精度。数字加速度控制算法可以有效抑制严重影响机器人跟踪精度的非线性摩擦问题。然后，通过有效地应用所需信号的预览，可以大大提高该机器人的跟踪精度。使用所提出的控制器进行了圆形路径跟踪仿真。与数字加速度控制器相比，结果表明了该控制方法的可行性和有效性，提高了路径跟踪精度。

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